I am considering using Java for some research works and I would like to know if someone has used ROS with Java (rosjava?) rather than C/C++ or Python, and whether it was a good experience or if the required tools were clunky or not user-friendly
One option to have very flexible development enviroment for robotics is using domain-specific modeling tool for specification of robot topology, joints and segment features, control logic and robot actions. Models can be directelly transformed to any target language. If you use soft SPS run-time system (PLC, IEC 61131-3) as "operating system for robot" then everything can be done easy. The only thing that should be programmed (if targer framework does not have it already) is algorithm for calculating rotations and elevations.In MainModel.jpg this algorithm is represented as function block "ArmAction", top right.