The document compares ROS 1 and ROS 2, outlining their similarities in distributed computing and language neutrality, while highlighting differences in architecture and technology. ROS 1 is more research-focused with a centralized 'master' system and limited to one robot, whereas ROS 2 is designed for production with support for multiple robots, self-discovery of nodes, and enhanced security. Key technological advancements in ROS 2 include support for C++17, Python 3, and multiple operating systems.

1. ROS 1
vs
ROS 2
The similarities, differences and blanks

2. Similarities
• Distributed computing using nodes
• Anonymous decoupled p2p communication
(pub/sub)
• Programming language neutral (C++ nodes can
coexist with Python)
• Well built APIs – rostopic, rosnode etc
• Great debugging tools – rviz, rqt, roslaunch etc

3. Differences (Architecture)
ROS 1
• Primarily built to support PR2, and
hence good for research
• Supports only 1 robot per ROS
network
• Architecture includes a central system
controller “Master”
• Concepts of QoS, Security absent
ROS 2
• Build to support the production grade
robotic solutions
• Supports multiple robots per ROS
network
• Masters-less system with nodes
capable of self-discovery
• New concepts of QoS, Security
introduced

4. Differences (Technology)
• Supports up-to C++ 11 & Python 2
• OS Support – Linux, Mac. But teams tests
only on Linux.
• Uses custom setup based on HTTP for
communication
• Only Cmake projects supported
• Supports C++ 17 & Python 3
• OS Support – Linux, Mac, Windows,
RTOS
• Uses Data Distributed System (DDS)
for communication
• Supports multiple build systems with
build isolation

5. Blanks
• Integration with version control tool
• CI/CD Pipeline for auto updates and
auto refresh

6. Thank you
Author: Asit Deva
Date : 20 April 2019