As someone who has used ros2, I feel fine passing judgment; it is terrible. If its easier to write your own stack, do it. Your own stack will be easier to add to and maintain long term. The conceptual design (nodes) is great, its just the execution that is awful.
This is my experience as well. The average quality in ROS is rock-bottom and so while it contains all of the things you might want from a robotics framework, you pay dearly for it. I would also say that whole the concept of distributed network modes is a convenient one for robotics development, stringing your control loops through such a structure is a recipe for disaster and should be avoided in your system design as much as possible (and one of the problems with ROS as a framework is that it heavily encourages this)
