Dear Herman,
> Example from ROS: the point cloud. This is the first (and currently still
> only?) example where the resource sharing between different clients and
> producers resulted in an unmaintainable situation. I do have the opinion (I
> can be wrong!) that this particular problem was solved in a particular way,
> without any effort to make it into a reusable template for all resource
> sharing problems. But I repeat: I can be wrong, since it is impossible to
> keep track of all software within the ROS ecosystem. And that fact also
> is not a good omen for maintainability...
Can you be a bit more specific here? Are you talking about:
a)PointCloud message,
b)PointCloud2 message,
c)PCL's templated "pcl::PointCloud< PointT >" class
d)PCL,
e)...?

D.