paper

Robot Operating System 2: Design, Architecture, and Uses In The Wild

arXiv:2211.07752 · doi:10.1126/scirobotics.abm6074

Abstract

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that robots share - the need for a modular, scalable, and reliable architecture; sensing; planning; mobility; and autonomy. The Robot Operating System (ROS) was an integral part of the last chapter, demonstrably expediting robotics research with freely-available components and a modular framework. However, ROS 1 was not designed with many necessary production-grade features and algorithms. ROS 2 and its related projects have been redesigned from the ground up to meet the challenges set forth by modern robotic systems in new and exploratory domains at all scales. In this review, we highlight the philosophical and architectural changes of ROS 2 powering this new chapter in the robotics revolution. We also show through case studies the influence ROS 2 and its adoption has had on accelerating real robot systems to reliable deployment in an assortment of challenging environments.

arXiv commentThis manuscript has been accepted for publication in Science Robotics. This version has not undergone final editing. Please refer to the complete version of record at https://www.science.org/doi/10.1126/scirobotics.abm6074. The manuscript may not be reproduced or used in any manner that does not fall within the fair use provisions of the Copyright Act without the prior, written permission of AAAS

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