True, a number of components seem better designed, and software engineering practices are used more from the beginning. A problem when porting a complex system built on top is just that the application code, often silently, relies on properties of the communication layers (think for example about when exactly to ask tf for transforms and what to consider beforehand). If such behavior changes (even if it changes to the better), problems will appear. --- [Visit Topic](https://discourse.ros.org/t/discussion-on-ros-to-ros2-transition-plan/6155/19) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: