For me hard realtime would be a requirement I think. Also it would be nice to maybe start leaning on orocos for some of the desired capabilities like controllers spinning at diff rates --- [Visit Topic](https://discourse.ros.org/t/ros-control-in-ros2-wishlist/7803/12) 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: