Beta 1 (
Table of Contents
We support ROS 2 Beta 1 on three platforms: Ubuntu 16.04 (Xenial), Mac OS X 10.11 (El Capitan), and Windows 8.1 and 10. We provide both binary packages and instructions for how to compile from source for all 3 platforms.
Improvements since Alpha 8 release
Support for node composition at compile, link, or runtime.
A standard lifecycle for managed nodes.
Improved support for Quality of Service tuning and tests.
Bridging services to / from ROS 1 (in addition to topics)
Selected features from previous Alpha releases
For the complete list, see earlier release notes.
C++ and Python implementations of ROS 2 client libraries including APIs for:
Publishing and subscribing to ROS topics
Requesting and replying ROS services (synchronous (C++ only) and asynchronous)
Getting and setting ROS parameters (C++ only, synchronous and asynchronous)
Support for interoperability between multiple DDS/RTPS implementations
eProsima Fast RTPS is our default implementation, and is included in the binary packages
RTI Connext is supported: build from source to try it out
We initially supported PrismTech OpenSplice but eventually decided to drop it
A graph API for network events
Realtime safe code paths for publish and subscribe with compatible DDS implementation (only Connext at the moment)
Support for custom allocators
ROS 1 <-> ROS 2 dynamic bridge node
Executor threading model in C++
.msgformat with new features:
We’re tracking issues in various repositories, but the main entry point is the ros2/ros2 issue tracker
We’d like to highlight a known issue that we are working with eProsima to fix that results in significantly degrated performance for large messages under FastRTPS. This will be observed when running some of the demos with larger image resolutions.