Really cool. Good move on writing your own stack. I was weighing using ros2 or building our own, but ended up going the ros2 route to “save time”. We are working with autonomous mobility robots in nature, so we figured the ecosystem around ros2 would be worth the compromise. It was not. All the time we saved setting things up initially, we are paying for now.

There should exist a minimal, clear, robotics library like what you’ve built. The Flask of the robotics world.