Introduction

The evolution from ROS 1 (Robot Operating System) to ROS 2 has been a significant leap in the field of robotics, particularly for industrial manipulators. As industries increasingly adopt automation, the demand for more robust, scalable, and flexible robotic systems grows. Both versions of ROS offer unique advantages, but ROS 2 is specifically designed to meet the challenges posed by industrial applications. This article explores the critical differences between ROS 1 and ROS 2, highlighting why ROS 2 is better suited for industrial manipulators.

Communication Architecture

One of the most significant differences between ROS 1 and ROS 2 is the communication architecture. ROS 1 relies on a custom-built middleware, ros_comm, which is suitable for academia and research but lacks support for real-time applications. In contrast, ROS 2 adopts the DDS (Data Distribution Service) standard for its middleware. This change allows ROS 2 to support real-time communications, making it ideal for industrial environments where timing is crucial. DDS provides quality of service (QoS) settings, enabling fine-tuning of parameters like reliability, durability, and deadline, which are essential for the predictable performance of industrial manipulators.

Real-Time Capability

Real-time capability is a critical requirement for industrial manipulators, which need precise timing to perform complex tasks. ROS 1 does not inherently support real-time operations, making it less suitable for time-sensitive applications. ROS 2, however, is designed with real-time performance in mind. With the integration of DDS and its advanced QoS policies, ROS 2 allows developers to create systems where tasks are executed within a predictable timeframe, minimizing latency and jitter. This capability enhances the performance and reliability of industrial manipulators.

Security Features

In industrial settings, security is paramount. ROS 1's security features are limited, as it was primarily developed for academic purposes. On the other hand, ROS 2 offers enhanced security measures, crucial for industrial applications. Leveraging DDS's built-in security capabilities, ROS 2 provides features such as authentication, encryption, and access control. These features ensure that data exchanged between nodes is secure, preventing unauthorized access and potential cyber threats. For industries dealing with sensitive operations, the enhanced security ROS 2 offers is a compelling advantage.

Scalability and Flexibility

Industrial environments often require scalable and flexible solutions to accommodate varying manufacturing demands. ROS 1, while effective for smaller projects, struggles with scalability due to its centralized architecture. ROS 2, however, is built on a decentralized architecture, facilitating scalability by allowing multiple nodes to communicate efficiently. This feature is beneficial for industrial manipulators, which may need to integrate with other systems or expand their capabilities. With ROS 2, it is easier to add or remove components without disrupting the entire system, providing the flexibility industries need to adapt to changing requirements.

Cross-Platform Support

The cross-platform support offered by ROS 2 is another significant improvement over ROS 1. ROS 1 is predominantly used on Linux, limiting its application in industries that employ diverse operating systems. ROS 2, however, supports multiple platforms, including Linux, Windows, and macOS. This cross-platform compatibility enables industries to deploy ROS 2 on various hardware and operating systems, offering greater flexibility and integration opportunities for industrial manipulators.

Maintainability and Community Support

Both ROS 1 and ROS 2 have strong community support, but ROS 2 is increasingly becoming the focus of new development efforts. As industries move towards adopting ROS 2, the community around it is growing, leading to more frequent updates, bug fixes, and the introduction of new features. This active community support ensures that ROS 2 remains maintainable and evolves to meet the changing needs of industrial applications. Additionally, ROS 2's modular design makes it easier to maintain and update individual components, streamlining the development process for industrial manipulators.

Conclusion

The transition from ROS 1 to ROS 2 represents a significant advancement in the realm of robotics, particularly for industrial manipulators. With its improved communication architecture, real-time capabilities, enhanced security features, scalability, and cross-platform support, ROS 2 is well-equipped to meet the demanding requirements of modern industrial applications. As industries continue to embrace automation, the adoption of ROS 2 is likely to increase, providing manufacturers with the tools they need to create more efficient, reliable, and secure robotic systems. Industrial manipulators can greatly benefit from these advancements, ensuring their operations remain at the forefront of innovation.