5.2.2.5.9. Beta 2 (r2b2
)¶
Table of Contents
Supported Platforms¶
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 <../../Installation> as well as documentation).
Features¶
Improvements since Beta 1 release¶
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 <../../How-To-Guides/Working-with-multiple-RMW-implementations>).
Namespace support for nodes and topics (see design article, see known issues below).
A set of command-line tools using the extensible
ros2
command (see conceptual article <../../Concepts/Basic/About-Command-Line-Tools>).A set of macros for logging messages in C / C++ (see API docs of rcutils).
New demo application¶
Turtlebot 2 demos using the following repositories that have been (partially) converted to ROS 2 (Linux only):
Dummy_robot demo <../Tutorials/Demos/dummy-robot-demo>:
Selected features from previous Alpha/Beta releases¶
For the complete list, see earlier release notes <../index>.
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)
Timer callbacks
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
Distributed discovery
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
Extended
.msg
format with new features:Bounded arrays
Default values
Known issues¶
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
rmw_connext_cpp
.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.