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However, ROS has several known weaknesses, such as lack of support for real-time systems and limitations in fully distributed deployments with multiple robots. To address these weaknesses, ROS underwent a major update and the first version of ROS\u00a02 was released back in 2015, being lingeringly adopted by the community in recent years. Yet, long-term support for ROS\u00a01 will come to an end on May 2025. As such, it is more important than ever to analyze and explore the features of ROS\u00a02, and understand its technological readiness. This work focuses on the state of adoption of ROS\u00a02. Specifically, the article presents a user experience questionnaire targeting the ROS community to understand the more eminent needs with respect to ROS\u00a02, determine the current levels of adoption, and identify what is holding the community back from migrating their ROS\u00a01 applications to ROS\u00a02. Results with more than 100 participants from around the world show that the community is aware of ROS\u00a02 and the middleware is addressing most user expectations. We unveil the main reasons given for not migrating to ROS\u00a02, further understand the community\u2019s views on ROS\u00a02, and identify what is missing to anticipate ROS\u00a01 users migrating to ROS\u00a02 and make ROS\u00a02 widely adopted. 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