I'll kick things off:
I think any ROS replacement would need to have a good interoperability story with existing ROS nodes, either by speaking DDS or by having a robust ROS bridge. That probably means it needs to use the same basic paradigm of anonymous pub-sub.
If I were actually trying to make a new robotics middleware, I'd probably start by targeting the early stages of the education market, making something that's easy to add to an Arduino or Micropython project and get automatic sensor drivers and basic controls functionality, but initially lean on the ros protocol for communicating with bigger computers.
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