PeppyOS: A simpler alternative to ROS 2 (now with containers support)

What makes this better than HORUS? Also Rust based, and opensource already.

IIRC, the ROS UR controller runs at 200Hz and we’ve had arms crash when they run much slower than that.

The website claims “30hz polling rate”, “2ms latency”. Not sure if that is a best case or just for that demo.

I'd love to use something other than ROS2, if for no other reason than to get rid of the dependency hell and the convoluted build system.

But there are a lot of nodes and drivers out there for ROS already. It's a chicken and egg thing because people aren't going to write drivers unless there are enough users, and it's hard to get users without drivers.

It looks like their business model is to give away the OS and make money with FoxGlove-like tools. It's not a bad idea, but adoption will be an uphill battle. And since they aren't open source yet, I certainly wouldn't start using it on a project until it us.

I've got one of these! Mine is called 'roboflex' (github.com/flexrobotics). It's c++/python, not rust. But similarly born out of frustration with ros. Writing your own robotics middleware seems to be a rite of passage. Just like 'writing your own game engine'. Nothing wrong with that - ros is powerful but has legit problems, and we need alternatives.

Although tbh, these days I'm questioning the utility. If I'm the one writing the robot code, then I care a lot about the ergonomics of the libraries or frameworks. But if LLMs are writing it, do I really care? That's a genuine, not rhetorical question. I suppose ergonomics still matter (and maybe matter even more) if I'm the one that has to check all the LLM code....

I see in their FAQ:

> Will PeppyOS be open source?

> Yes! PeppyOS will be fully open source under a BSL license before the end of this year. Once the software is mature, everyone will be able to contribute and participate in its development.