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Hi Conner

I would look at this from an OOP point of view and my answer would be to isolate scopes.

Your application will generate a comm interface, a worker object (threaded) and other elements: the inner working of the interface (generating a ROS node, or a ZeroMQ pub/sub or anything else really) should be self contained in the interface itself.

The worker takes data input and provides output, what flow this data follows should not be in the scope of the worker.

So the comm interface shouldn't need to know how the worker does its job, and the worker shouldn't need to know how to treat data (when to send it, how to send it, and so on).