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Features Status¶

The features listed below are available in the current ROS 2 release. Unless otherwise specified, the features are available for all supported platforms (Ubuntu 18.04, OS X 10.12.x, Windows 10), DDS implementations (eProsima Fast RTPS, RTI Connext and ADLINK Opensplice) and programming language client libraries (C++ and Python). For planned future development, see the Roadmap.

Functionality	Link	Fine print
Discovery, transport and serialization over DDS	Article
Support for multiple DDS implementations, chosen at runtime	Tutorials	Currently eProsima Fast RTPS, RTI Connext and ADLINK OpenSplice are fully supported.
Common core client library that is wrapped by language-specific libraries	Details
Publish/subscribe over topics	Sample code, Article
Clients and services	Sample code
Set/retrieve parameters	Sample code
ROS 1 - ROS 2 communication bridge	Tutorial	Available for topics and services, not yet available for actions.
Quality of service settings for handling non-ideal networks	Demo
Inter- and intra-process communication using the same API	Demo	Currently only in C++.
Composition of node components at compile-, link- or `dlopen`-time	Demo	Currently only in C++.
Support for nodes with managed lifecycles	Demo	Currently only in C++.
DDS-Security support	Demo
Command-line introspection tools using an extensible framework	Tutorial
Launch system for coordinating multiple nodes	Tutorial
Namespace support for nodes and topics	Article
Static remapping of ROS names	Tutorial
Demos of an all-ROS 2 mobile robot	Demo
Preliminary support for real-time code	Demo, demo	Linux only. Not available for Fast RTPS.
Preliminary support for “bare-metal” microcontrollers	Wiki

Beside features of the platform the most impact of ROS comes from its available packages. The following are a few high profile packages which are available in the latest release: