{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T18:14:31Z","timestamp":1776449671859,"version":"3.51.2"},"reference-count":47,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"66","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,5,25]]},"abstract":"<jats:p>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\u2014the 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.<\/jats:p>","DOI":"10.1126\/scirobotics.abm6074","type":"journal-article","created":{"date-parts":[[2022,5,11]],"date-time":"2022-05-11T17:55:14Z","timestamp":1652291714000},"source":"Crossref","is-referenced-by-count":1178,"title":["Robot Operating System 2: Design, architecture, and uses in the wild"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1090-7733","authenticated-orcid":true,"given":"Steven","family":"Macenski","sequence":"first","affiliation":[{"name":"Samsung Research America, Mountain View, CA 94043, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7022-6801","authenticated-orcid":true,"given":"Tully","family":"Foote","sequence":"additional","affiliation":[{"name":"Open Robotics, Mountain View, CA 94041, USA."}]},{"given":"Brian","family":"Gerkey","sequence":"additional","affiliation":[{"name":"Open Robotics, Mountain View, CA 94041, USA."}]},{"given":"Chris","family":"Lalancette","sequence":"additional","affiliation":[{"name":"Open Robotics, Mountain View, CA 94041, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3690-9497","authenticated-orcid":true,"given":"William","family":"Woodall","sequence":"additional","affiliation":[{"name":"Open Robotics, Mountain View, CA 94041, USA."}]}],"member":"221","reference":[{"key":"e_1_3_1_2_2","unstructured":"M. Quigley B. Gerkey K. Conley J. Faust T. Foote J. Leibs E. Berger R. Wheeler A. Ng. ROS: An open-source Robot Operating System in IEEE International Conference on Robotics and Automation Workshop on Open Source Software (IEEE 2009)."},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.21105\/joss.00456"},{"key":"e_1_3_1_4_2","doi-asserted-by":"crossref","unstructured":"E. Marder-Eppstein E. Berger T. Foote B. Gerkey K. Konolige The Office Marathon: Robust navigation in an indoor office environment in IEEE International Conference on Robotics and Automation (IEEE 2010) pp. 300\u2013307.","DOI":"10.1109\/ROBOT.2010.5509725"},{"key":"e_1_3_1_5_2","first-page":"3","article-title":"Reducing the barrier to entry of complex robotic software: A MoveIt! case study","volume":"5","author":"Coleman D.","year":"2014","unstructured":"D. Coleman, I. Sucan, S. Chitta, N. Correll, Reducing the barrier to entry of complex robotic software: A MoveIt! case study. J. Soft. Eng. Robot. 5, 3\u201316 (2014).","journal-title":"J. Soft. Eng. Robot."},{"key":"e_1_3_1_6_2","doi-asserted-by":"crossref","unstructured":"B. Cairl Deterministic asynchronous message driven task execution with ros in ROSCon Madrid 2018 (Fetch Robotics Inc. Open Robotics September 2018).","DOI":"10.36288\/ROSCon2018-900817"},{"key":"e_1_3_1_7_2","doi-asserted-by":"crossref","unstructured":"S. Macenski F. Mart\u00edn R. White J. G. Clavero The Marathon 2: A Navigation System in Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2020).","DOI":"10.1109\/IROS45743.2020.9341207"},{"key":"e_1_3_1_8_2","unstructured":"G. Pardo-Castellote OMG Data-Distribution Service: Architectural overview in International Conference on Distributed Computing Systems Workshops (2003) pp. 200\u2013206."},{"key":"e_1_3_1_9_2","unstructured":"W. Woodall ROS on DDS (2022); https:\/\/design.ros2.org\/articles\/ros_on_dds.html [accessed 11 February 2022]."},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v38i1.2716"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(71)90010-5"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"e_1_3_1_13_2","first-page":"195","article-title":"On three-layer architectures","volume":"1998","author":"Gat E.","year":"1998","unstructured":"E. Gat, On three-layer architectures. Artificial Intell. Mobile robots 1998, 195\u2013210 (1998).","journal-title":"Artificial Intell. Mobile robots"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.285583"},{"key":"e_1_3_1_15_2","doi-asserted-by":"crossref","unstructured":"M. Montemerlo N. Roy S. Thrun Perspectives on standardization in mobile robot programming: The carnegie mellon navigation (carmen) toolkit in Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No. 03CH37453) (IEEE 2003) vol. 3 pp. 2436\u20132441.","DOI":"10.1109\/IROS.2003.1249235"},{"key":"e_1_3_1_16_2","first-page":"1","article-title":"Recent work on distributed commit protocols, and recoverable messaging and queuing","volume":"17","author":"Mohan C.","year":"1994","unstructured":"C. Mohan, R. Dievendorff, Recent work on distributed commit protocols, and recoverable messaging and queuing. Data Eng. 17, 1 (1994).","journal-title":"Data Eng."},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1145\/306549.306582"},{"key":"e_1_3_1_18_2","unstructured":"OASIS MQTT Version 5.0: OASIS Standard ( OASIS MQTT Technical Committee 2019)."},{"key":"e_1_3_1_19_2","unstructured":"B. P. Gerkey R. T. Vaughan K. St\u00f8y A. Howard G. S. Sukhatme Maja J Matari\u0107 Most Valuable Player: A robot device server for distributed control in Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2001)."},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.5772\/5761"},{"key":"e_1_3_1_21_2","doi-asserted-by":"crossref","unstructured":"A. S. Huang E. Olson D. C. Moore LCM: Lightweight Communications and Marshalling in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2010) pp. 4057\u20134062.","DOI":"10.1109\/IROS.2010.5649358"},{"key":"e_1_3_1_22_2","unstructured":"H. Bruyninckx P. Soetens B. Koninckx. The real-time motion control core of the Orocos project in Proceedings of the IEEE International Conference on Robotics and Automation (IEEE 2003)."},{"key":"e_1_3_1_23_2","unstructured":"Apache Software Foundation Apache License Version 2.0 (2021); https:\/\/www.apache.org\/licenses\/LICENSE-2.0.html [accessed 3 September 2021]."},{"key":"e_1_3_1_24_2","doi-asserted-by":"crossref","unstructured":"K. Birman T. A. Joseph Exploiting virtual synchrony in distributed systems in ACM Symposium on Operating Systems Principles (1987) pp. 123\u2013138.","DOI":"10.1145\/37499.37515"},{"key":"e_1_3_1_25_2","unstructured":"J. Corbet A. Rubini G. Kroah-Hartman Linux device drivers (\"O\u2019Reilly Media Inc. 2005)."},{"key":"e_1_3_1_26_2","unstructured":"G. M\u00fchl L. Fiege P. Pietzuch Distributed Event-Based Systems (Springer Science & Business Media 2006)."},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1002\/j.1538-7305.1978.tb02135.x"},{"key":"e_1_3_1_28_2","unstructured":"A. Sundaresan L. Gerard Secure ros: Imposing secure communication in a ros system in ROSCon Vancouver 2017 (Open Robotics September 2017)."},{"key":"e_1_3_1_29_2","unstructured":"K. Fazzari ROS 2 DDS-Security integration (2021); https:\/\/design.ros2.org\/articles\/ros2_dds_security.html [accessed 6 September 2021]."},{"key":"e_1_3_1_30_2","unstructured":"OMG DDS Security (2022); www.omg.org\/spec\/DDS-SECURITY\/1.0\/PDF [accessed 9 February 2022]."},{"key":"e_1_3_1_31_2","doi-asserted-by":"crossref","unstructured":"R. White G. Caiazza H. Christensen A. Cortesi Procedurally provisioned access control for robotic systems in Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2018).","DOI":"10.1109\/IROS.2018.8594462"},{"key":"e_1_3_1_32_2","doi-asserted-by":"crossref","unstructured":"I. L\u00fctkebohle B. O. Gamarra I. M. Goenaga J. M. Losa V. Mayoral Vilches micro-ROS: ROS 2 on microcontrollers In ROSCon (Open Robotics October 2019).","DOI":"10.36288\/ROSCon2019-900887"},{"key":"e_1_3_1_33_2","unstructured":"Object Management Group Data Distribution Service for Real-time Systems Specification (December 2004)."},{"key":"e_1_3_1_34_2","doi-asserted-by":"crossref","unstructured":"L. Puck P. Keller T. Schnell C. Plasberg A. Tanev G. Heppner A. R\u00f6nnau R. Dillmann Distributed and Synchronized Setup towards Real-Time Robotic Control using ROS2 on Linux in Proceedings of the 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) (IEEE 2020) pp. 1287\u20131293.","DOI":"10.1109\/CASE48305.2020.9217010"},{"key":"e_1_3_1_35_2","doi-asserted-by":"crossref","unstructured":"J. Staschulat I. L\u00fctkebohle R. Lange The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers: Work-in-progress in International Conference on Embedded Software (IEEE 2020) pp. 18\u201319.","DOI":"10.1109\/EMSOFT51651.2020.9244014"},{"key":"e_1_3_1_36_2","unstructured":"M. Sagar ISO Certification of ROS 2 in Embedded World Conference (March 2021)."},{"key":"e_1_3_1_37_2","unstructured":"J. Torjo Asio C++ Network Programming: Enhance your skills with practical Examples for C++ Network Programming (2013)."},{"key":"e_1_3_1_38_2","unstructured":"C. Yun AWS IoT RoboRunner for Building Robot Fleet Management Applications (2022); https:\/\/aws.amazon.com\/blogs\/aws\/preview-aws-iot-roborunner-for-building-robot-fleet-management-applications\/ [accessed 11 February 2022]."},{"key":"e_1_3_1_39_2","unstructured":"ROS 2 Design (2021); http:\/\/design.ros2.org\/ [accessed 5 August 2021]."},{"key":"e_1_3_1_40_2","unstructured":"ROS Enhancement Proposals (2021); https:\/\/ros.org\/reps\/rep-0000.html [accessed 5 August 2021]."},{"key":"e_1_3_1_41_2","unstructured":"W. Woodall. REP 2004: Package Quality Categories (2021); https:\/\/ros.org\/reps\/rep-2004.html [accessed 5 August 2021]."},{"key":"e_1_3_1_42_2","unstructured":"Eclipse Foundation Cyclone DDS (2021); https:\/\/cyclonedds.io\/ [accessed 3 September 2021]."},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972872"},{"key":"e_1_3_1_44_2","doi-asserted-by":"crossref","unstructured":"L. Meier D. Honegger M. Pollefeys Px4: A node-based multithreaded open source robotics framework for deeply embedded platforms in Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2015) pp. 6235\u20136240.","DOI":"10.1109\/ICRA.2015.7140074"},{"key":"e_1_3_1_45_2","unstructured":"D. McComas NASA\/GSFC\u2019s Flight Software Core Flight System in Flight Software Workshop (Southwest Research Institute San Antonio Texas 2012)."},{"key":"e_1_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2012.01.002"},{"key":"e_1_3_1_47_2","doi-asserted-by":"crossref","unstructured":"S. Stukes M. Allan Matthew Deans Georgia Bajjalieh T. Fong J. Hihn H. Utz An innovative approach to modeling viper rover software life cycle cost in Proceedings of the 2021 IEEE Aerospace Conference (50100) (IEEE 2021).","DOI":"10.1109\/AERO50100.2021.9438347"},{"key":"e_1_3_1_48_2","unstructured":"C. Price Heritage Software Save up to 97% on future V&V for real projects (2021); www.nasa.gov\/sites\/default\/files\/03-09_ivv_guidance_for_ivv_for_product_line_software.pdf [accessed 7 September 2021]."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abm6074","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,24]],"date-time":"2024-09-24T12:27:49Z","timestamp":1727180869000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abm6074"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,25]]},"references-count":47,"journal-issue":{"issue":"66","published-print":{"date-parts":[[2022,5,25]]}},"alternative-id":["10.1126\/scirobotics.abm6074"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abm6074","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,25]]},"article-number":"eabm6074"}}