Getting started with ROS2 Design

Resources studied:

• ROS2 Design: Why ROS2
• Intuition behind how DDS works
• RPC vs Simple Procedural Call

Takeaways

New technologies in ROS2:

• Zeroconf (Zero-configuration Networking)
• Protocol Buffers (Serializing structured data)
• ZeroMQ (MQ = Message Queue)
• Redis (Database)
• Websockets
• DDS (Data Distribution Service)

Concepts from 1st generation APIs retained in ROS2:

• distributed processing
• anonymous publish/subscribe messaging
• RPC with feedback (actions)
• language neutrality
• system introspectibility