Beta 3 (codename ‘r2b3’; September 2017)¶

Improvements since Beta 2 release¶

• Execution model in Python, many fixes to memory management in Python C extension

• Experimental rewrite of ros_control

• Exposure of DDS implementation-specific symbols to users (for FastRTPS and Connext) (see example)

• Logging API in Python

• Fixed several memory leaks and race conditions in various packages

• Readded support for OpenSplice (on Linux and Windows atm) provided by PrismTech

• Use bloom (without patches) to make ROS 2 releases

New demo application¶

• HSR demo

  • Remote control a HSR robot using a ROS 2 joystick controller

  • Running the ros1_bridge in a Docker container on the HSR (since the robot is running ROS 1 on Ubuntu Trusty)

  • Run a ROS 2 development version of rviz to visualize sensor data from the robot etc. (see video)

Selected features from previous Alpha/Beta 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)

  • Timer callbacks

• Support for interoperability between multiple DDS/RTPS implementations

  • eProsima FastRTPS is our default implementation, and is included in the binary packages

  • RTI Connext is supported: build from source to try it out

  • PrismTech OpenSplice: see limitations below

• 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++ and Python)

• 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