It would be triangulation if the system was measuring the arrival angles of the incoming signals. If the system relying solely on arrival time differences, it's likely doing something based on trilateration.
If you're into this stuff and ever in the Seattle area I recommend visiting the Naval Undersea Museum in Keyport. They have a good collection of torpedoes on display, including a Japanese Kaiten manned torpedo.
catkin packages are just CMake projects, and you can use find_package to discover them without making your module into a catkin package. I've written a few drivers this way without any problems (using existing message definitions.) For example: https://bitbucket.org/richmattes/si7021-sensor/src/master/CM...
Lack of QOS (and many other things) are definitely a drawback of ROS. ROS 2 is built on top of DDS, which replaces ROS 1's bespoke messaging/transport and has a robust set of tune-able QOS parameters.
Why haven't I tried ROS on Windows? I never really had the need to, I primarily use Linux at home and work.
I did briefly evaluate ROS 2 (ardent) on Windows at my previous job. It seemed to work fairly well, I built it natively, ran the demos and did some latency/throughput comparisons between DDS implementations.
If you're not looking for a full size rack, I like the Hammond Manufacturing RCH series. They come in several heights and depths, and you can add locking doors and casters.
The 'assertion-evidence' approach to creating slides focuses on for keeping text to a minimum and using pictures and other visual aids to support your message. They emphasized it in my engineering school, and I've been using it in workplace presentations for years.