ROS 2 Key Challenges and Advances: A Survey of ROS 2 Research, Libraries, and Applications

摘要

This study presents a comprehensive systematic review that addresses the critical transi- 1 tion from ROS 1 to ROS 2, spotlighting the significant enhancements and the pressing need for a 2 detailed exploration of ROS 2 within the robotics community. Despite the extensive deployment 3 and adaptations of ROS in varied robotics applications, literature lacks a cohesive synthesis that 4 delineates the advancements, limitations, and broader impacts of ROS 2 compared to its predecessor, 5 ROS 1. Our contribution bridges this gap by assembling the largest database of ROS-related research, 6 encompassing 7,498 articles, with a focused analysis in this survey on 431 ROS2-specific publications. 7 We categorize these into i.) articles that discuss and analyze core ROS 2 concepts, ii.) articles that 8 propose frameworks or tools for ROS 2, and iii.) articles utilizing ROS 2. Furthermore, we summarize 9 literature findings of ROS 2 challenges, advancements, and future direction in the fields of a.) security, 10 b.) real-time, c.) middleware, d.) embedded and distributed systems, e.) communication reliability 11 and QoS, and f.) multi-robot systems. The methodology involved meticulous data collection and 12 categorization from multiple databases, facilitating an in-depth online accessible resource. Results 13 underscore ROS2’s enhancements in modularity, real-time capabilities, and security, extending its 14 applicability across various robotic platforms and industries. However, challenges in scalability and 15 reliability persist, signaling avenues for future enhancements. This review not only deepens the 16 understanding of ROS2’s contributions but also charts a path for ongoing improvements in robotic 17 systems design.