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.
Yeah I tried to use ROS / Gazebo about 10 years ago (it was still ROS 1) and getting it set up was an immense pain. I remember that creating new modules required writing CMake files. Maybe this is better now, but I decided to skip that.
I also agree on the need for a simple, easy, extensible open source framework. LeRobot IMO is some of this but also contains the dataset + ML code. I think Flask is nice because it's so singularly focused on just one thing with extensibility if you need extras.
So I really like the idea. But being an OSS maintainer these days seems... intense.