Can you say more about the nav stack? I thought nav2 was considered one of the better more mature packages in ROS2, but it's not my area of expertise.
| As robotics moves toward end-to-end AI systems, stuff needs to stay on GPU memory, not shuttled back and forth across processes through a networking stack.
Very interesting. There is nothing that would prevent PeppyOS nodes from running on the GPU. The messaging tech behind PeppyOS is Zenoh (it's swappable), it can run on embedded systems (PeppyOS nodes will also be compatible with embedded in the future). That being said, at the moment the messaging system runs exclusively on the CPU.
It's fine for robots like these
https://docs.nav2.org/about/robots.html
It's not useful for robots like these
https://www.youtube.com/watch?v=XoQI-kLRrXA
https://www.youtube.com/shorts/hKVwM5pa3NQ
https://www.youtube.com/shorts/XA_jjE2OES4
https://www.youtube.com/shorts/JOqc7dmmD5o
https://www.youtube.com/shorts/v9Pilgh1vcA