Gradually, with the continuous software iteration by community around the world, ROS1 expanded its usage space to many different fields such as industrial arms, self-driving cars, aerial vehicles, and more. The initial design goal of ROS1 was to provide a development platform for the Willow Garage PR2 robot to do research. ROS1, the open source software, is one of the most popular prototyping platform for developing robots (Figure 1). Why ROS2īecause of the lack of support for real-time performance in ROS1, the creation of ROS2 was proposed to address the performance limitations.

In this article, I introduce a new Robot Operating System (ROS2) platform, aiming to provide an overview about its architecture, advantages, and features.įigure 1. The middleware challenges are involved in: capabilities of runtime adaptation to applications, communication between heterogeneous systems in different levels of middleware, runtime safety assurance under failure circumstances, and others. Among them, middleware is one of the most challengeable research parts for overall systems. In autonomous driving, the increasing complexity of systems poses great changes in maintaining dependability for lifecycle of software engineering.

This is an introduction of ROS2 (Robot Operating System 2), including fundamental architecture and features.