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I'm only one voice here, but my preference would be Python.

Python is already installed on most platforms ROS 2 developers will be using, as many parts of ROS 2 are written in Python.

I doubt if ROS developers mind installing a Java Virtual Machine to run a third-party Java tool (if it works well)?

installing a JVM is indeed not too much overhead, but it is more work, so with all else equal, Python would probably still be preferable.

My current plan is to code it in Java (due to its potential, future deployment on the web).

With things like FastAPI, writing a web-enabled version of whatever you create should not be too difficult I believe.