Hey uh - good luck. I spent a while smashing my head against this.

You should read https://basisrobotics.tech/2025/01/08/postmortem/ and consider: - How you will get users - How you will fund development - What the "good parts" from ROS and other frameworks you want to take

I notice you don't have shared memory transport, nor do you support runtime composability (I think?). This might make perception heavy stacks run poorly. I'm also a little confused on what serialization format you support - is it an entirely custom one? It looks like two publishers with the same topic type will duplicate the schema, which is a bit odd. Worth also considering how you will do recording/replay.

Additionally - BSL feels great, but I found it scared off some people. IMO just do Apache 2.0 if you're going to have some other revenue stream anyhow.

I spent like...a year thinking about this stuff, happy to chat at [email protected] if you need a friendly ear.