I hate redundancy in code. Everyone would claim the same but the difference is I wont overlook it. To me its always a thing that needs fixed, like that broken thing in the kitchen you see every morning. ROSJava uses the Apache XmlRpcServer as the master registration node that participants use to locate each other before establishing a persistent peer-to-peer Tcp socket. I know the registration server doesnt need high throughput but ROSJava uses the stub webserver that comes as a debug tool in Apache XmlRpcServer, you know, the one that says in the docs "I cant understand why people like and use this thing so much because it really actually sucks so use tomcat or something" [nonsic]. I think any good open connected robot should be running a real web server and I have Tomcat7 active now on Pi. They way they do it in ROSJava is to spin the web server inside of the master node, which is very Jetty-like but like I said; hate that redundancy, and I'm an old tomcat through and through. I can always make it work somehow. So even though this is a contest I'm going to give it a shot and construct a ROS XmlRpcServlet so I can bring up the master inside of tomcat and see how cool that turns out to be.