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Complex systems are easier to manage when they're made of simpler modules. Gstreamer and ROS are both message-oriented software frameworks for high-performance (soft)real-time systems GStreamer lets you plug modules together to make multi-media processing pipelines, ROS lets you plug modules together to build robots. In this talk, I'll contrast the design patterns of the two frameworks, show how the two frameworks can be combined to create a more flexible free software ecosystem, and share my surprise at how quickly new infrastructure code gets adopted.