[quote="gbiggs, post:4, topic:7803, full:true"] [quote="gavanderhoorn, post:3, topic:7803"] support chaining controllers natively ( *probably* using topics for input/output?), no subclassing [/quote] Using topics but allowing composition with zero-copy shared memory used (automatically by the middleware) when composed in a single process? [/quote] O yes, of course. I thought that went without saying, but I should've been explicit about that. --- [Visit Topic](https://discourse.ros.org/t/ros-control-in-ros2-wishlist/7803/6) 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: