My suggestion: start with ROS, but make absolutely sure to separate ROS from your “business intelligence“. The one think I hate from ROS, is that it makes it difficult. But keep them separated. Also the launch IPC and config parts, don’t do them dependent from each other. If possible do not rely on launcher. So later you can switch away if needed. And you will need. ROS is great for prototyping, changing things, development. But is just not for deploying in production. The whole possibility of inspecting the messages between nodes, means you have to pay a price.
> in your opinion, are these at least well implemented? would they be easy to rip out and run separately?
Not a simple answer:
- from the architecture pov i think many questionable decisions were made: you need to master many languages: XML, launch, message files, yaml, python or C, Cmakefiles for catkin… why?! Why not making launcher files, messages all just yaml or json? Just too complex for nothing.
- The code, you can look yourself, is write only. No way you can change anything without needing 1 year understanding…
- BUT: it does work, and works well. I’ve not found a kill bug or something. So, I guess is ok.
My suggestion: start with ROS, but make absolutely sure to separate ROS from your “business intelligence“. The one think I hate from ROS, is that it makes it difficult. But keep them separated. Also the launch IPC and config parts, don’t do them dependent from each other. If possible do not rely on launcher. So later you can switch away if needed. And you will need. ROS is great for prototyping, changing things, development. But is just not for deploying in production. The whole possibility of inspecting the messages between nodes, means you have to pay a price.
> in your opinion, are these at least well implemented? would they be easy to rip out and run separately?
Not a simple answer: - from the architecture pov i think many questionable decisions were made: you need to master many languages: XML, launch, message files, yaml, python or C, Cmakefiles for catkin… why?! Why not making launcher files, messages all just yaml or json? Just too complex for nothing. - The code, you can look yourself, is write only. No way you can change anything without needing 1 year understanding… - BUT: it does work, and works well. I’ve not found a kill bug or something. So, I guess is ok.