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Should we develop our own messages and then also populate the existing vanilla interface with printouts saying that those are the reduced Gaussian-only "wrapper" versions. That will allow people to try the new message types after trying out the conventional Gaussian only types. There might be cause to support only new non-Gaussian msg types, but lets start from the familiar stuff and work our way up. Same amount of development on the Julia side to support ROS msgs anyhow.
ROS SLAM does not really cater for non-Gaussian. So what is the best way to be vanilla, but strawberry and blueberry too?
See Wiki for ROS here
Also related,
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