Hi to all. I’m new here. My background is embedded stuff, networking, educational robotics and Lua language.
One point of ROS1 that I found limiting was that the API is C++:
- You can have C code that want to link against ROS libraries.
- You may have to write a binding to another language besides Python
- which are designed to bind against plain C, like Lua
- which are not OO or whose OO is not C++like, like Lua or Java
Having a conventional low level procedural old-school API is been much better in his regard.
A C++ API for final programs would be a wrapper around this C API.
Related to this, system written in C is VASTLY more portable than C++.