Use C++ roboclaw library or switch to async python

[Achllle]

A lot of time is spent waiting for communication with the roboclaws. Using an async python library to communicate with them or using threading in either language would alleviate this.

[ericjunkins]

Sorry maybe I don't fully understand here, how would async or threading improve this? You always only have the ability to communicate to a single device at a time, so you couldn't multi thread that. Can you explain a little more?

[Achllle]

Async or threading would simply mean that while the code is waiting for a response from the various IO devices, it can go and do other stuff such as respond to a callback or calculate odometry/state information.