Wonder

Research Outline

Prepared for Anna M. | Delivered July 6, 2020

ROS Programming

Goals

To provide a report detailing the key differences between ROS 1 and ROS 2, industry statistics as to which version is more widely used, as well as case study examples and applications of ROS1 and ROS2. 

Early Findings

ROS 1 and ROS2 - Key DifferencesSome of the key differences between ROS 1 and ROS 2 have been listed below: 
ROS 1 was first published in 2007, while ROS 2 was officially released in 2017. 
ROS 1 can only be programmed using C++ 03, C++ 11, and python 2. ROS 2 can be programmed using C++ 11, C++ 14, C++ 17, and python 3.5.
ROS 1 supports the Ubuntu and OS X operating environment, while ROS 2 supports Ubuntu Xenial, Windows 10, and OS X El Captain.
In addition to ROS 1's primary capabilities of programming robots, ROS 2 adds new major functionalities, such as robot security, real-time control, and increased distributed processing. 


ROS 1 and ROS2 - Industry Usage StatisticsThe usage rates for various ROS 1 and ROS 2 packages by the ROS community have been listed below: 
(ROS 1) Hydro and earlier: 0.00% 
(ROS 1) Indigo: 5.02 % 
(ROS 1) Jade: 0.00 % 
(ROS 1) Kinetic: 53.06 % 
(ROS 1 ) Lunar: 0.85 % 
(ROS 1) Melodic: 26.71 %  
(ROS 2)Bouncy and earlier ROS 2: 0.12 % 
(ROS 2) Crystal 0.62 % 
(ROS 2) Dashing 1.51 % 
Rosdistro independent: 12.10% 

The complete list of release packages for ROS 1 can be found here, while the complete list of release packages for ROS 2 can be found here.

Summary of FindingsIn our initial hour of research, we were able to identify a number of differences between ROS 1 and ROS 2. As it stands, ROS 2 was designed to improve and modernize ROS 1. However, the majority of the ROS community still actively makes use of ROS 1, and less than 5 percent of the community has moved to ROS 2.