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I don't have a complete answer, but my first idea would be to look at plugins. They would allow you to find a middle-ground between your options 1 & 2, and is a fairly common / accepted ROS design pattern.See wiki/pluginlib for some info.

I don't have a complete answer, but my first idea would be to look at plugins. They would allow you to find a middle-ground between your options 1 & 2, and is a fairly common / accepted ROS design pattern.See wiki/pluginlib for some info.

I'm not entirely sure what "robot configuration type" means, but if it involves executable code, then plugins could allow end-users to configure your 'main' binary with a bunch of plugins that it should load at runtime, with corresponding parameters.

Edit: look at stacks like navigation, nav2d and moveit for some example usages of pluginlib.

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