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用ros2control加hardwear interface 的方式开发机器人看起来很香，为什么不见有人用呢。开源的教育机器人也都是把ros2当一个通信工具用，硬件厂商也不见有提供hardwear interface 代码的。电机驱动器，雷达，摄像头，这些常用配件貌似都是直接连某某派、工控机、mini小主机等上位机更方便。如果这些都带hardwear interface代码，岂不是简化很多开发过程。这样做有什么看不到的缺点吗？是会影响性能还是自由度不够？