ROS-like framework using modern development concepts and microservices

The Robot Operating System (ROS) has established itself as a useful set of software libraries and tools that can help to build robot applications. It provides services such as hardware abstraction, low-level device management, implementation of frequently used functions, inter-process message passing, and package management. ROS is good for small static research environments, however, it does not scale so well to large real-world applications. Besides, there is no security model, the test approach is unclear, the library versions can be incompatible. The paper presents a survey, the results of which show that many ROS users have problems with such modern programming techniques as testing or automatic deployment. Nowadays, many systems based on modern programming paradigms are developed by leading companies, and there is a lot of good open-source software out there. An application can be built without writing a lot of code, one just needed to combine high-quality libraries with necessary functionality. This paper intends to show how to build a ROS-like system using modern technologies, such as microservices and message queues, in a simple way with high quality and functionality using an example of the RhoMBus framework.