[f1shy]

At the end what ROS provides for that cost, is a IPC, Logging, configuration and a startup tree (through launch system). Waaaay too expensive.

- We have moved to standard sockets IPC, or protocol buffers. - For logging just trivial printing. - For configuration to libconfig - For launch system to simple shell scripts.

[carlmr]

The beauty with using protobuf, libconfig or whatever is that they're libraries. If you find a better RPC/messaging library for your needs it's easy to replace one library, if you find a better config management you replace one library, if you want better logging you replace one library.

I despise the framework approach, it ossifies bad decisions and then it becomes a monumental task to move away from the framework, because now you need to replace everything.

[f1shy]

Absolutely! The system is completely modular, and single pieces can be changed.