Node name is now passed to the constructor wheras before it was passed to global. This was the source of the nodelet shenanigans in ROS 1.0 regarding multiple nodes in a single process.
But regarding the larger issue of ROS 2.0 and thread mechanics, given the relatively straight forward threading model we are pursuing, I THINK WE’LL BE FINE
One potential issue is that ROS 2.0 really like shared_ptr, but boost/statechart uses intrusive_ptr.
A good development that doesn’t particularly affect the need for a state machine.
Dynamic Reconfigure will likely be replaced using DDS.
Bringing simple Servers inside SMACC
To take advantage of ROS2 features related to nodes/nodelets, our first use case should be bringing ROS 1 Client Servers that are relatively simple (like a temperature sensor), inside of SMACC.