This is my life right now: reckoning with optimizing a ROS1-based system that was itself hacked together in record time.
ROS seems almost like it wants to distribute state by default. And it has no primitives for sanely managing distributed state, health checks, etc. The lego brick approach to camera drivers is great, but trying to orchestrate all those bricks is a nightmare. Rosparam/master is woefully inadequte as a control plane.
I recommend anyone in this space look at tools like Consul.
ROS seems almost like it wants to distribute state by default. And it has no primitives for sanely managing distributed state, health checks, etc. The lego brick approach to camera drivers is great, but trying to orchestrate all those bricks is a nightmare. Rosparam/master is woefully inadequte as a control plane.
I recommend anyone in this space look at tools like Consul.