Open
Description
COMPAS FAB uses roslibpy for websocket communication to the rosbridge. It contains two implementations of websockets, one for IronPython based on .NET/CLI infrastructure and one for cpython based on Twisted. The async programming model of twisted coupled with the restriction of not being able to use async/await language support and the added complexity that it generates on client code make it a pretty unsustainable library going forward, so we should seriously consider replacing it completely and use a threaded websockets client instead.
This issue lives in compas_fab repo as an epic story, but the implementation should likely be a sub-issue on roslibpy repo.