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Examples of poor decisions? I am just interested.

- Fundamental bug in the way they compute message schema checksums used for compatibility checks, causes buffer overflows and undefined robot behavior when changing array lengths. Is marked as wontfix because they don't want to recompile existing packages.

- custom build tooling based on cmake is super cumbersome and buggy, and it means that you simply cannot communicate with ROS based stuff, without yourself becoming a ROS module that uses that custom build tooling

- there is no QOS, messages are retained somewhat due to the topic semantic, but you can't tune retention parameters or resends

With roslibpy you can communicate with ROS stuff without being a ROS Node: https://github.com/gramaziokohler/roslibpy "Unlike the rospy library, this does not require a local ROS environment, allowing usage from platforms other than Linux."

Please also consider, that this is related mostly to ROS1.

Yea I purposefully didn't include ROS-Bridge because thats another can of worms.

This is interesting, but won't you lose out on a lot of the benefits of using ROS in the first place? None of the tooling (command line tools and roslaunch stuff) that expects nodes will work.

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