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Beta 2 (
Table of Contents
We support ROS 2 Beta 2 on three platforms: Ubuntu 16.04 (Xenial), macOS 10.12 (Sierra), and Windows 10. We provide both binary packages and instructions for how to compile from source for all 3 platforms (see install instructions as well as documentation).
DDS_Security support (aka SROS2, see sros2)
Debian packages for Ubuntu Xenial
Typesupport has been redesigned so that you only build a single executable and can choose one of the available RMW implementations by setting an environment variable (see documentation).
Namespace support for nodes and topics (see design article, see known issues below).
A set of command-line tools using the extensible
ros2command (see conceptual article).
A set of macros for logging messages in C / C++ (see API docs of rcutils).
Turtlebot 2 demos using the following repositories that have been (partially) converted to ROS 2 (Linux only):
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 support for it is currently on hold
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 (C++ only)
Component model to compose nodes at compile / link / runtime
Managed component using a standard lifecycle
.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 looking into which doesn’t allow two topics with the same base name but different namespaces to have a different type when using
Services with long responses are not working with Fast-RTPS. The fix, while not being part of beta2, is available upstream so you can work around this issue by building from source using Fast-RTPS master branch.