I will admit I have almost always made the choice to not use ros2. I am trying to use it now for some work, and I can see where/when it would be useful...
But I almost always feel like there is just so much STUFF involved in ros, that really is just better resolved by having really robust controllers, well defined protocols, and everything else.
I wait to pass judgement until I have more information though
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As someone who has used ros2, I feel fine passing judgment; it is terrible. If its easier to write your own stack, do it. Your own stack will be easier to add to and maintain long term. The conceptual design (nodes) is great, its just the execution that is awful.
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