功能状态
下面列出的功能在当前的 ROS 2 版本中可用。 除非另有说明，否则这些功能适用于所有受支持的平台（Ubuntu 22.04 (Jammy)、Windows 10）、DDS 实现（eProsima Fast DDS、RTI Connext DDS 和 Eclipse Cyclone DDS）和编程语言客户端库（C++ 和 Python）。 有关计划的未来开发，请参阅：doc:Roadmap。
Functionality |
Link |
Fine print |
|---|---|---|
Discovery, transport and serialization over DDS |
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Support for multiple DDS implementations, chosen at runtime |
Currently Eclipse Cyclone DDS, eProsima Fast DDS, and RTI Connext DDS are fully supported. |
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Common core client library that is wrapped by language-specific libraries |
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Publish/subscribe over topics |
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Clients and services |
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Set/retrieve parameters |
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ROS 1 - ROS 2 communication bridge |
Available for topics and services, not yet available for actions. |
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Quality of service settings for handling non-ideal networks |
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Inter- and intra-process communication using the same API |
Currently only in C++. |
|
Composition of node components at compile, link, load, or run time |
Currently only in C++. |
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Multiple executors (at level of callback groups) in same node |
Only in C++. |
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Support for nodes with managed lifecycles |
Currently only in C++. |
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DDS-Security support |
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Command-line introspection tools using an extensible framework |
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Launch system for coordinating multiple nodes |
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Namespace support for nodes and topics |
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Static remapping of ROS names |
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Demos of an all-ROS 2 mobile robot |
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Preliminary support for real-time code |
Linux only. Not available for Fast RTPS. |
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Preliminary support for “bare-metal” microcontrollers |
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Content filtering subscription |
Currently only in C++. |
除了平台的核心功能外，ROS 的最大影响来自于其可用的软件包。 以下是最新版本中提供的一些备受瞩目的软件包：