You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Iron.

Features 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 20.04, macOS 10.14.x, Windows 10), DDS implementations (eProsima Fast DDS, RTI Connext DDS, and Eclipse Cyclone DDS) and programming language client libraries (C++ and Python). For planned future development, see the Roadmap.



Fine print

Discovery, transport and serialization over DDS


Support for multiple DDS implementations, chosen at runtime

Concept, How-to Guide

Currently Eclipse Cyclone DDS, eProsima Fast DDS, and RTI Connext DDS are fully supported.

Common core client library that is wrapped by language-specific libraries


Publish/subscribe over topics

Sample code, Article

Clients and services

Sample code

Set/retrieve parameters

Sample code

ROS 1 - ROS 2 communication bridge


Available for topics and services, not yet available for actions.

Quality of service settings for handling non-ideal networks


Inter- and intra-process communication using the same API


Currently only in C++.

Composition of node components at compile, link, load, or run time


Currently only in C++.

Support for nodes with managed lifecycles


Currently only in C++.

DDS-Security support


Command-line introspection tools using an extensible framework


Launch system for coordinating multiple nodes


Namespace support for nodes and topics


Static remapping of ROS names

How-to Guide

Demos of an all-ROS 2 mobile robot


Preliminary support for real-time code

Demo, demo

Linux only. Not available for Fast RTPS.

Preliminary support for “bare-metal” microcontrollers


Besides core features of the platform, the biggest impact of ROS comes from its available packages. The following are a few high-profile packages which are available in the latest release: