Ask HN: Robotics people, what would you change about ROS?

The reason why I'm asking is that, ROS seems to be the most dominant/popular framework for both entry level and advanced roboticists. Its great that there is such a common framework which creates a baseline for the majority. However, after spending years on the platform, I still think that it is not seamless to work with and I am not even talking about performance related subjects. Without revealing much about my specific opinions, I wanted to ask the community what they dislike about the platform and what would they change if they had infinite time/resources.