How to Write Asynchronous Code for Your Robot

The peer to robot runs I think roughly 150 processes in parallel and they all talk to each other. As long as you remove one of the components which has a certain interface interface on a message level, it receives certain messages on a so-called topic. And it responds on another topic. If you replace it with a different component which has the same kind of interface, nobody will notice as long as you like produce similar results. That's really excellent.