This is very cool topic. Recently I worked on a [project related to the idea described here](
https://github.com/mjyc/cycle-robot-drivers), which wasn't using ROS but [I'm interested in extending it to include ROS](
https://discourse.ros.org/t/posts-on-reactive-programming-for-robot-programming/6880).
Have there been any more development in this space (the last comment is ~2yrs old)?
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