Features

dhood edited this page Jun 28, 2018 · 17 revisions

ROS 2 Feature Status

The features listed below are available in the current ROS 2 release. Unless otherwise specified, the features are available for all supported platforms (Ubuntu 18.04, OS X 10.12.x, Windows 10), DDS implementations (eProsima Fast RTPS, RTI Connext and PrismTech Opensplice) and programming language client libraries (C++ and Python). For planned future development, see the Roadmap.

Functionality Link Fine print
Discovery, transport and serialization over DDS Article
Support for multiple DDS implementations, chosen at runtime Tutorial Currently eProsima Fast RTPS, RTI Connext and PrismTech Opensplice are fully supported.
Common core client library that is wrapped by language-specific libraries Tutorial
Publish/subscribe over topics Sample code, Article
Clients and services Sample code
Set/retrieve parameters Sample code Parameters not yet available in rcl/Python.
ROS 1 - ROS 2 communication bridge Tutorial Available for topics and services, not yet available for actions.
Quality of service settings for handling non-ideal networks Demo
Inter- and intra-process communication using the same API Demo Currently only in C++.
Composition of node components at compile-, link- or dlopen-time Demo Currently only in C++.
Support for nodes with managed lifecycles Demo Currently only in C++.
DDS-Security support Demo
Command-line introspection tools using an extensible framework Tutorial
Launch system for coordinating multiple nodes Tutorial
Namespace support for nodes and topics Article
Static remapping of ROS names Tutorial
Demos of an all-ROS 2 mobile robot Demo
Preliminary support for real-time code Demo, demo Linux only. Not available for Fast RTPS.
Preliminary support for "bare-metal" microcontrollers Wiki
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