Characteristics of ROS and goals of ROS2

Understanding ROS

The Robot Operating System, commonly known as ROS, is not an actual operating system like Windows or Linux.
Instead, it is a framework that provides a collection of tools, libraries, and conventions designed to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.
ROS is widely used in both academia and industry, making it a critical component for anyone working in robotics today.

Modularity and Flexibility

One characteristic that sets ROS apart is its modularity.
This modular nature allows developers to use only the necessary parts for their projects and replace components with ease.
For instance, if a particular sensor node doesn’t suit your needs, you can swap it out without having to change the rest of your code.
This modular approach encourages code reuse and helps developers focus on coding rather than reinventing the wheel.

Communication Infrastructure

Another significant feature of ROS is its robust communication system.
ROS implements a publish-subscribe messaging model through topics, which allows for efficient data exchange between different parts of a robot system.
Nodes, which are individual processes in ROS, can publish or subscribe to topics, making it possible to decouple the hardware from the software.

Additionally, ROS services provide a synchronous communication method, allowing nodes to send requests and wait for replies.
This variety of communication methods ensures flexibility in network architecture design, which is crucial for developing scalable robotic systems.

Tools and Libraries

ROS is equipped with a vast array of tools and libraries, each serving different purposes to aid in the development process.
Visualization tools like RViz help developers visualize sensor data and bring their projects to life.
Similarly, Gazebo, a physics-based 3D simulator, aids in testing algorithms in a safe and controlled simulated environment.

The libraries within ROS offer pre-built functionality for various robotic tasks such as navigation, perception, and control, which speeds up the development process.

Open Source Community

The open-source nature of ROS is a powerful factor in its widespread adoption.
Developers worldwide contribute to the continuous improvement of the system.
The community-driven development leads to regular updates, bug fixes, and a growing library of software packages.
This open-source model ensures that ROS remains at the forefront of technological advances in the field of robotics.

Moving Forward with ROS2

While ROS has transformed the way robotics systems are built, technological advancements and evolving demands have led to the development of ROS2.
The second generation of ROS addresses some of the limitations and challenges faced by its predecessor.

Real-Time Processing

One of the primary goals of ROS2 is to provide support for real-time processing, which is essential for certain robotic applications.
ROS2 utilizes DDS (Data Distribution Service) for real-time data exchange, enabling predictability and time-critical task handling.
This advancement caters to industries where time sensitivity and reliability are of utmost importance, such as autonomous vehicles and industrial automation.

Enhanced Security

Security is another crucial aspect targeted by ROS2.
The original ROS was primarily built for research and educational purposes, where security was not a major concern.
However, as commercial applications of ROS have grown, so has the need for secure data handling and communication.
ROS2 introduces various security features to safeguard against threats and vulnerabilities, making it suitable for deployment in sensitive environments.

Cross-Platform Support

Cross-platform compatibility is greatly enhanced in ROS2.
While the initial ROS was mostly compatible with UNIX-based systems, ROS2 extends support to include Windows, providing developers with a wider range of development environments.
This inclusion opens doors for collaboration across different platforms, fostering innovation and diversity in robotic solutions.

Better Network Management

ROS2 also addresses the need for improved network management.
In complex robotics applications, managing multiple nodes and making the most out of limited network resources is crucial.
ROS2 optimizes network usage through quality of service (QoS) settings, which allow developers to tailor communication strategies for nodes based on their priority and available resources.

Modular-Middleware Architecture

The modular-middleware architecture is introduced in ROS2, allowing developers to choose middleware based on their specific project requirements.
This flexibility ensures that developers can strike the right balance between communication latency, network traffic, and data storage in their applications.
In turn, this adaptability enhances performance and effectiveness in diverse scenarios.

Improved Usability and Performance

ROS2 also focuses on making the system more user-friendly and highly performant.
The development community behind ROS2 aims to improve the documentation, making it easier for newcomers to get started.
Moreover, ROS2 strives for more efficient resource usage, which can lead to better performance and faster deployment in real-world scenarios.

Conclusion

ROS and ROS2 play pivotal roles in the evolution and advancement of robotics technology.
While ROS provides a solid foundation with its modularity, communication infrastructure, and extensive toolset, ROS2 addresses the modern challenges of security, real-time processing, platform compatibility, and performance.

As the field of robotics continues to progress, the combined strengths of ROS and ROS2 offer a comprehensive framework for developers aiming to push the boundaries of what is possible with robots.
Together, they empower innovators to create reliable, scalable, and cutting-edge robotic systems that can adapt to and redefine our world.