Podomy

Weld is robotics middleware written in Go. One unified core moves topics, services, actions, and parameters across transports, with structured delivery, copy once handling, and a leaderless data plane that stays correct under partition. Weld speaks ROS 2 on the wire, so Go programs join ROS 2 systems as first-class nodes, verified by mixed fleet behavior. Weld is faster than ROS 2 on the same host: up to 68% lower latency. It also scales further: zero packet loss where ROS starts dropping, with about 25% more throughput.