ROS is not just framework, but design platform to accelerate the development of robot systems.
There is 4 features for ROS, plumbing, tools, capabilities, and ecosystems.
Plumbing means the publish / subscribe messaging infrastructure.
ROS offers powerful tools to support configuring, debugging, and visualizing tasks.
Capabilities means a broad collection of libraries.
Finally, ROS project is organized by the world-wide community.
Next, I will explain these features in detail.
At first, let's review the contribution of ROS 1 and ROS 2.
The main advantage of ROS 1 is a huge number of open source packages. We can start the development by utilizing these existing packages. However, one of the serious issue for ROS 1 is that we must employ Desktop version of Linux to operate ROS1 nodes. It means that we should select high-performance and power-hunger devices, such as AARCH64 or x86 CPU.
We think use of embedded technology would contribute to power consumption & real-time capability for robot systems. ROS 2 tries to introduce embedded device to the ROS systems. However, there is no compatibility between ROS 1 and ROS 2. It is hard to port the implementation of ROS 1 package to ROS 2 directly. So, ROS developer should implement package of ROS 2 from the ground up.
At first, let's review the contribution of ROS 1 and ROS 2.
The main advantage of ROS 1 is a huge number of open source packages. We can start the development by utilizing these existing packages. However, one of the serious issue for ROS 1 is that we must employ Desktop version of Linux to operate ROS1 nodes. It means that we should select high-performance and power-hunger devices, such as AARCH64 or x86 CPU.
We think use of embedded technology would contribute to power consumption & real-time capability for robot systems. ROS 2 tries to introduce embedded device to the ROS systems. However, there is no compatibility between ROS 1 and ROS 2. It is hard to port the implementation of ROS 1 package to ROS 2 directly. So, ROS developer should implement package of ROS 2 from the ground up.