Robot Operating System 2: Design, Architecture, and Uses In The Wild (2211.07752v1)

Abstract: The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that robots share - the need for a modular, scalable, and reliable architecture; sensing; planning; mobility; and autonomy. The Robot Operating System (ROS) was an integral part of the last chapter, demonstrably expediting robotics research with freely-available components and a modular framework. However, ROS 1 was not designed with many necessary production-grade features and algorithms. ROS 2 and its related projects have been redesigned from the ground up to meet the challenges set forth by modern robotic systems in new and exploratory domains at all scales. In this review, we highlight the philosophical and architectural changes of ROS 2 powering this new chapter in the robotics revolution. We also show through case studies the influence ROS 2 and its adoption has had on accelerating real robot systems to reliable deployment in an assortment of challenging environments.

• The paper introduces ROS 2’s advanced design, leveraging modular architecture and DDS middleware to enhance security and scalability.
• It presents extensive benchmarks demonstrating ROS 2’s real-time performance, robustness under packet loss, and reduced latency.
• Case studies from sectors like space, land, air, and sea illustrate how ROS 2 accelerates modern multi-robot deployments.

Robot Operating System 2: Design, Architecture, and Uses In The Wild

The paper "Robot Operating System 2: Design, Architecture, and Uses In The Wild" presents a comprehensive paper of the evolution and impact of the Robot Operating System 2 (ROS 2) within the robotics industry. This paper examines the architectural design, implementation, and application of ROS 2, positioning it as a successor to ROS 1 with enhancements for modern robotic systems.

Architectural and Philosophical Enhancements

ROS 2 was designed to overcome the limitations of ROS 1, particularly in security, network topology, and scalability. The paper outlines the transition from ROS 1 to ROS 2, highlighting its foundation on the Data Distribution Service (DDS). Leveraging DDS enables ROS 2 to meet requirements in security, scalability, real-time operations, and support for complex multi-robot environments. Unlike its predecessor, ROS 2 integrates best-in-class security features with authentication, encryption, and access control.

The paper also details the design principles shaping ROS 2, such as distribution, abstraction, asynchrony, and modularity. These principles yield a framework conducive to separation of concerns, interoperability, and reuse across various platforms and applications. The abstraction layers allow for interchangeable middleware solutions, and the reliance on libraries such as rcl ensures uniformity across client languages.

Robust Communication and Middleware

ROS 2 provides communication patterns including topics, services, and actions, allowing the development of robust asynchronous systems. The middleware architecture supports flexible communication scalability, achievable through Quality of Service (QoS) settings. Extensive benchmarking demonstrates ROS 2's performance, resilience under packet loss, and the advantageous use of intra-process communication for reducing latency and CPU utilization.

Security and Software Quality

Security is an emphasized feature in ROS 2, integrating DDS-Security for robust network protection. With integrated capabilities for authentication and encryption, ROS 2 ensures data integrity across diverse platforms. The paper further asserts the software quality of ROS 2 with a well-documented design process, rigorous testing protocols, and a clear quality declaration policy.

Case Studies and Real-World Applications

The paper explores five case studies showcasing ROS 2's deployment in land, sea, air, and space applications. Companies like Ghost Robotics and NASA's VIPER mission exemplify its utility in diverse domains. ROS 2 serves as a backbone for collaborative development, enabling seamless integration and rapid deployment. It facilitates large-scale operations, from Ghost Robotics' quadrupeds navigating challenging terrains, to OTTO Motors coordinating extensive fleets in industrial settings.

AUTERION and Mission Robotics leverage ROS 2's simulation and real-time capabilities to enhance testing efficiency and decrease development costs. These cases collectively underscore ROS 2's role in accelerating robotic innovation, serving as a democratizing tool within the industry.

Conclusion and Implications for the Future

ROS 2 is meticulously designed to address the complexities and requirements of contemporary robotics. Its architecture fosters increased collaboration, code reuse, and standardization across industries, thus enabling more rapid and cost-effective development of robotic applications. As ROS 2 continues to evolve, its adoption is likely to further shape the robotics landscape, influencing how future systems are designed and deployed. The paper signifies a strategic advancement aligned with industry needs, providing a valuable framework for future research and commercial robotics development.