How are you planning to use ROS2 @thempen in your project?
Is ROS2 only planned to be used as packaging, i.e. send protobuffer/flatbuffer via ROS2? -> performance problems because encoding and decoding has to be done twice?!
Or will there be a conversion from our current message structure to ROS2 messages as well? -> flexibility could be limited as e.g. one model would implement the ROS2 way and the other one flatbuffers via TCP and they couldn' communicate without a wrapper.
How are you planning to use ROS2 @thempen in your project?
Is ROS2 only planned to be used as packaging, i.e. send protobuffer/flatbuffer via ROS2? -> performance problems because encoding and decoding has to be done twice?! Or will there be a conversion from our current message structure to ROS2 messages as well? -> flexibility could be limited as e.g. one model would implement the ROS2 way and the other one flatbuffers via TCP and they couldn' communicate without a wrapper.