Robot Operating System 2: Design, architecture, and uses in the wild

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…