The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that robots share—the need for a modular, scalable, and reliable architecture; sensing; planning; mobility; and autonomy. The Robot Operating System (ROS) was an integral part of the last chapter, demonstrably expediting robotics research with freely available components and a modular framework. However, ROS 1 was not designed with many necessary production-grade features and algorithms. ROS 2 and its related projects have been redesigned from the ground up to meet the challenges set forth by modern robotic systems in new and exploratory domains at all scales. In this Review, we highlight the philosophical and architectural changes of ROS 2 powering this new chapter in the robotics revolution. We also show through case studies the influence ROS 2 and its adoption has had on accelerating real robot systems to reliable deployment in an assortment of challenging environments.

中文翻译：

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机器人操作系统 2：设计、架构和野外使用

随着机器人在广泛的商业用例中的部署，机器人革命的下一章正在顺利进行。即使在无数的应用程序和环境中，也存在机器人共享的通用组件词汇表——需要模块化、可扩展和可靠的架构；传感；规划; 流动性；和自治。机器人操作系统 (ROS) 是上一章不可或缺的一部分，它通过免费提供的组件和模块化框架明显加快了机器人研究。然而，ROS 1 并没有设计许多必要的生产级功能和算法。ROS 2 及其相关项目已从头开始重新设计，以应对现代机器人系统在各个规模的新探索领域提出的挑战。在这篇评论中，我们重点介绍了 ROS 2 的哲学和架构变化，为机器人革命的这一新篇章提供了动力。我们还通过案例研究展示了 ROS 2 及其采用对加速真实机器人系统在各种具有挑战性的环境中可靠部署的影响。