REP: 2000 Title: ROS 2 Releases and Target Platforms Author: Mikael Arguedas <[email protected]>, Steven! Ragnarok <[email protected]>, Dirk Thomas <[email protected]>, Audrow Nash <[email protected]> Status: Active Type: Informational Content-Type: text/x-rst Created: 10-Apr-2018, 24-Apr-2018, 21-May-2018, 10-Dec-2018, 20-May-2019, 21-May-2019, 29-Aug-2019, 25-Feb-2020, 18-Nov-2021
This REP defines the timeline for future ROS 2 releases as well as the targeted platforms for each specific one. We define platforms to include both operating system releases (e.g. Ubuntu Xenial (16.04 LTS)) as well as major language releases (e.g. Python 3.5). The target platforms represent the set on which all core stacks are expected to work. Exceptions can be made for stacks that are intentionally platform-specific.
Note
The following applies to ROS 2 releases after Foxy. Prior to Foxy, releases were made more frequently but with shorter support due to the fact that many foundational parts of ROS 2 were still being heavily developed.
New ROS 2 releases will be published in a time based fashion every 12 months. The rationale is that a shorter cycle (like 6 months) results in significant overhead and potentially many active releases at the same time (assuming they have the same support length). On the other hand a longer cycle (like 2 years) is too long for users to wait for new features to be available in a ROS 2 release.
Since regular Ubuntu releases are only supported for 9 months ROS 2 will not target those. A single ROS 2 distribution will only have full Tier 1 support for a single Ubuntu LTS. The rationale is that fully supporting two LTS versions - which means 2-year-different versions of upstream dependencies - is a tremendous overhead and sometimes even impossible. On a case-by-case basis, a ROS 2 distribution may support an older Ubuntu LTS distribution as a Tier 3, community-supported platform.
Since macOS (or at least brew) as well as Windows are rolling platforms we aim to support the latest version available at the time of a ROS 2 distribution release. For Debian we also aim to target the latest stable version though if that version is two years behind the Ubuntu version that might not be possible.
Since Ubuntu LTS releases come with 5 years of standard support we aim to match the same duration. In even years new ROS 2 releases will happen one month after the Ubuntu LTS has been released (which usually means a ROS 2 release in May). The ROS 2 release will be supported until the end of the standard support of the Ubuntu LTS release which is 4 years and 11 months from the ROS 2 release date.
In order to provide frequent releases to the community, in odd years a non-LTS ROS 2 release will be published. It will always target the same Ubuntu LTS as the previous ROS 2 LTS release but will only be supported for 1.5 years. This duration ensures that the non-LTS will overlap with the next ROS LTS release by 6 months to provide a long enough transition window.
- May 2021: G Turtle: non-LTS release, supported for 1.5 years
- May 2022: H Turtle: LTS release, supported for 5 years
- May 2023: I Turtle: non-LTS release, supported for 1.5 years
- May 2024: J Turtle: LTS release, supported for 5 years
- and so on, alternating annually between LTS and non-LTS releases
Platforms are defined as a combination of the OS, the architecture, and the RMW implementation. By default the tiers are expected to apply up to the desktop variant in a rosdistro, unless otherwise specified. ROS 2 variants are defined in REP 2001 [3].
Tier 1
Tier 1 platforms are subjected to our unit test suite and other testing tools on a frequent basis including continuous integration jobs, nightly jobs, packaging jobs, and performance testing. Errors or bugs discovered in these platforms are prioritized for correction by the development team. Significant errors discovered in Tier 1 platforms can impact release dates and we strive to resolve all known high priority errors in Tier 1 platforms prior to new version releases.
Tier 2
Tier 2 platforms are subject to periodic CI testing which runs both builds and tests with publicly accessible results. The CI is expected to be run at least within a week of relevant changes for the current state of the ROS distribution. Package-level binary packages may not be provided but providing a downloadable archive of the built workspace is encouraged. Errors may be present in released product versions for Tier 2 platforms. Known errors in Tier 2 platforms will be addressed subject to resource availability on a best effort basis and may or may not be corrected prior to new version releases. One or more entities should be committed to continuing support of the platform.
Tier 3
Tier 3 platforms are those for which community reports indicate that the release is functional. The development team does not run the unit test suite or perform any other tests on platforms in Tier 3. Installation instructions should be available and up-to-date in order for a platform to be listed in this category. Community members may provide assistance with these platforms.
If planned support for a target platform is changed, notice will be sent to discourse to enable discussion of this issue.
| Required support | |||
|---|---|---|---|
| Architecture | Ubuntu Xenial (16.04) | MacOS Sierra (10.12) | Windows 10 (VS2015) |
| amd64 | X | X | X |
| arm64 | X | ||
Minimum language requirements:
- C11 [2]
- C++14
- Python 3.5
Dependency Requirements:
| Package | Ubuntu Xenial | MacOS** | Windows 10** |
|---|---|---|---|
| CMake | 3.5.1 | 3.11.0 | 3.10.2 |
| EmPY | 3.3.2 | 3.6.5 | 3.3.2 |
| Ogre | 1.10* | 1.10* | 1.10* |
| OpenCV | 2.4.9 | 3.4.1 | 2.4.13.2* |
| Poco | 1.7.7* | 1.7.7* | 1.7.7* |
| Python | 3.5.1 | 3.6.5 | 3.6.4 |
| Qt | 5.5.1 | 5.10.0 | 5.10.0 |
| Linux only (used for turtlebot demo) | |||
| PCL | 1.7.2 | N/A | N/A |
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu Xenial: apt
- MacOS: Homebrew, pip
- Windows: Chocolatey, pip
Build System Support:
- ament_cmake
- cmake
- setuptools
Middleware Implementation Support:
- eProsima Fast-RTPS
- RTI Connext
- ADLINK OpenSplice
Targeted platforms:
| Required Support | Recommended Support | ||||
|---|---|---|---|---|---|
| Architecture | Ubuntu Bionic (18.04) | MacOS Sierra (10.12) | Windows 10 (VS2017) | Ubuntu Xenial (16.04) [s] | Debian Stretch (9) [s] |
| amd64 | X | X | X | X [s] | X [s] |
| arm64 | X | X [s] | X [s] | ||
" [s] " Compilation from source, the ROS buildfarm will not produce any binary packages for these platforms.
Minimum language requirements:
- C11 [2]
- C++14
- Python 3.5
Dependency Requirements:
| Required Support | Recommended Support | ||||
|---|---|---|---|---|---|
| Package | Ubuntu Bionic | MacOS** | Windows 10** | Ubuntu Xenial [s] | Debian Stretch [s] |
| CMake | 3.10.2 | 3.11.0 | 3.10.2 | 3.5.1 | 3.7.2 |
| EmPY | 3.3.2 | 3.6.5 | 3.3.2 | 3.3.2 | 3.3.2 |
| Ogre | 1.10* | 1.10* | 1.10* | 1.10* | 1.10* |
| OpenCV | 3.2.0 | 3.4.1 | 3.4.1* | 2.4.9 | 3.2* |
| Poco | 1.8.0 | 1.9.0 | 1.8.0* | 1.8.0* | 1.8.0* |
| Python | 3.6.5 | 3.6.5 | 3.6.5 | 3.5.1 | 3.5.3 |
| Qt | 5.9.5 | 5.10.0 | 5.10.0 | 5.5.1 | 5.7.1 |
| Linux only (used for turtlebot demo) | |||||
| PCL | 1.8.1 | N/A | N/A | 1.7.2 | 1.8.0 |
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime.
" [s] " Compilation from source, the ROS buildfarm will not produce any binary packages for these platforms.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu Bionic: apt
- MacOS: Homebrew, pip
- Windows: Chocolatey, pip
- Ubuntu Xenial, Debian Stretch: apt
Build System Support:
- ament_cmake
- cmake
- setuptools
Middleware Implementation Support:
- eProsima Fast-RTPS
- RTI Connext
- ADLINK OpenSplice
Targeted platforms:
| Architecture | Ubuntu Bionic (18.04) | MacOS Sierra (10.12) | Windows 10 (VS2017) | Ubuntu Xenial (16.04) | Debian Stretch (9) |
|---|---|---|---|---|---|
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 1 [a][s] | Tier 2 [s] | Tier 3 [s] |
| arm64 | Tier 1 [d][a][s] | Tier 2 [s] | Tier 3 [s] |
The following indicators show what delivery mechanisms are available for each platform.
" [d] " Debian packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Crystal ROS 2 repos file [4].
" [s] " Compilation from source.
Middleware Implementation Support:
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
|---|---|---|---|---|
| rmw_fastrtps_cpp | eProsima Fast-RTPS | Tier 1 | All Platforms | All Architectures |
| rmw_connext_cpp | RTI Connext | Tier 1 | All Platforms except Debian | All Architectures except arm64 |
| rmw_opensplice_cpp | ADLINK OpenSplice | Tier 2 | All Platforms except Debian | All Architectures |
| rmw_fastrtps_dynamic_cpp | eProsima Fast-RTPS | Tier 2 | All Platforms | All Architectures |
| rmw_connext_dynamic_cpp | RTI Connext | Tier 2 | All platforms except Debian | All architectures except arm64 |
Middleware implementation support is dependent upon the platform support tier. For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support.
Minimum language requirements:
- C11 [2]
- C++14
- Python 3.5
Dependency Requirements:
| Required Support | Recommended Support | ||||
|---|---|---|---|---|---|
| Package | Ubuntu Bionic | MacOS** | Windows 10** | Ubuntu Xenial [s] | Debian Stretch [s] |
| CMake | 3.10.2 | 3.13.3 | 3.13.3 | 3.5.1 | 3.7.2 |
| EmPY | 3.3.2 | 3.3.2 | 3.3.2 | 3.3.2 | 3.3.2 |
| Gazebo | 9.0.0 | 9.9.0 | N/A | 9.9.0* | 9.8.0* |
| Ogre | 1.10* | ||||
| OpenCV | 3.2.0 | 4.0.1 | 3.4.1* | 2.4.9 | 3.2* |
| OpenSSL | 1.1.0g | 1.0.2q | 1.0.2q | 1.0.2g | 1.1.0j |
| Poco | 1.8.0 | 1.9.0 | 1.8.0* | 1.8.0* | 1.8.0* |
| Python | 3.6.5 | 3.7.2 | 3.7.2 | 3.5.1 | 3.5.3 |
| Qt | 5.9.5 | 5.12.0 | 5.10.0 | 5.5.1 | 5.7.1 |
| Linux only | |||||
| PCL | 1.8.1 | N/A | N/A | 1.7.2 | 1.8.0 |
| RMW DDS Middleware Providers | |||||
| Connext DDS | 5.3.1 | N/A | |||
| Fast-RTPS | 1.7.0 | ||||
| OpenSplice | 6.9.181127OSS | ||||
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime.
" [s] " Compilation from source, the ROS buildfarm will not produce any binary packages for these platforms.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu, Debian: apt
- MacOS: Homebrew, pip
- Windows: Chocolatey, pip
Build System Support:
- ament_cmake
- cmake
- setuptools
Targeted platforms:
| Architecture | Ubuntu Bionic (18.04) | MacOS Sierra (10.12) | Windows 10 (VS2019) | Debian Stretch (9) | OpenEmbedded / webOS OSE |
|---|---|---|---|---|---|
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 1 [a][s] | Tier 3 [s] | |
| arm64 | Tier 1 [d][a][s] | Tier 3 [s] | Tier 3 [s] | ||
| arm32 | Tier 2 [a][s] | Tier 3 [s] | Tier 3 [s] |
The following indicators show what delivery mechanisms are available for each platform.
" [d] " Debian packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Dashing ROS 2 repos file [5].
" [s] " Compilation from source.
Middleware Implementation Support:
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
|---|---|---|---|---|
| rmw_fastrtps_cpp | eProsima Fast-RTPS | Tier 1 | All Platforms | All Architectures |
| rmw_connext_cpp | RTI Connext | Tier 1 | All Platforms except Debian and OpenEmbedded | All Architectures except arm64/arm32 |
| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 2 | All Platforms | All Architectures |
| rmw_opensplice_cpp | ADLink OpenSplice | Tier 2 | All Platforms except Debian and OpenEmbedded | All Architectures |
| rmw_fastrtps_dynamic_cpp | eProsima Fast-RTPS | Tier 2 | All Platforms | All Architectures |
Middleware implementation support is dependent upon the platform support tier. For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support.
Minimum language requirements:
- C++14
- Python 3.5
Dependency Requirements:
| Required Support | Recommended Support | ||||
|---|---|---|---|---|---|
| Package | Ubuntu Bionic | MacOS** | Windows 10** | Debian Stretch | OpenEmbedded** |
| CMake | 3.10.2 | 3.14.4 | 3.14.4 | 3.7.2 | 3.16.1 / 3.12.2*** |
| EmPY | 3.3.2 | ||||
| Gazebo | 9.0.0 | 9.9.0 | N/A | 9.8.0* | N/A |
| Ogre | 1.10* | N/A | |||
| OpenCV | 3.2.0 | 4.1.0 | 3.4.6* | 3.2* | 4.1.0 / 3.2.0*** |
| OpenSSL | 1.1.0g | 1.0.2r | 1.0.2r | 1.1.0j | 1.1.1d / 1.1.1b*** |
| Poco | 1.8.0 | 1.9.0 | 1.8.0* | 1.8.0* | 1.9.4 |
| Python | 3.6.5 | 3.7.3 | 3.7.3 | 3.5.3 | 3.8.2 / 3.7.5*** |
| Qt | 5.9.5 | 5.12.3 | 5.10.0 | 5.7.1 | 5.14.1 / 5.12.5*** |
| Linux only | |||||
| PCL | 1.8.1 | N/A | N/A | 1.8.0 | 1.8.1 |
| RMW DDS Middleware Providers | |||||
| Connext DDS | 5.3.1 | N/A | |||
| Cyclone DDS | 0.7.x (Coquette) | ||||
| Fast-RTPS | 1.8.0 | ||||
| OpenSplice | 6.9.190403OSS | N/A | |||
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime. The versions shown for OpenEmbedded are those provided by the 3.1 Dunfell release series; the versions provided by the other supported release series are listed here: https://github.com/ros/meta-ros/wiki/Package-Version-Differences . Note that the OpenEmbedded releases series for which a ROS distro has support will change during its support time frame, as per the OpenEmbedded support policy shown here: https://github.com/ros/meta-ros/wiki/Policies#openembedded-release-series-support . However, it will always be supported by least one stable OpenEmbedded release series.
" *** " webOS OSE provides this different version.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu, Debian: apt
- MacOS: Homebrew, pip
- Windows: Chocolatey, pip
- OpenEmbedded: opkg
Build System Support:
- ament_cmake
- cmake
- setuptools
Targeted platforms:
| Architecture | Ubuntu Bionic (18.04) | MacOS Mojave (10.14) | Windows 10 (VS2019) | Debian Buster (10) | OpenEmbedded / webOS OSE |
|---|---|---|---|---|---|
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 1 [a][s] | Tier 3 [s] | |
| arm64 | Tier 1 [d][a][s] | Tier 3 [s] | Tier 3 [s] | ||
| arm32 | Tier 2 [a][s] | Tier 3 [s] | Tier 3 [s] |
The following indicators show what delivery mechanisms are available for each platform.
" [d] " Debian packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Eloquent ROS 2 repos file [6].
" [s] " Compilation from source.
Middleware Implementation Support:
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
|---|---|---|---|---|
| rmw_fastrtps_cpp | eProsima Fast-RTPS | Tier 1 | All Platforms | All Architectures |
| rmw_connext_cpp | RTI Connext | Tier 1 | All Platforms except Debian and OpenEmbedded | All Architectures except arm64/arm32 |
| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 2 | All Platforms | All Architectures |
| rmw_opensplice_cpp | ADLINK OpenSplice | Tier 2 | All Platforms except Debian and OpenEmbedded | All Architectures |
| rmw_fastrtps_dynamic_cpp | eProsima Fast-RTPS | Tier 2 | All Platforms | All Architectures |
Middleware implementation support is dependent upon the platform support tier. For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support.
Minimum language requirements:
- C++14
- Python 3.6
Dependency Requirements:
| Required Support | Recommended Support | ||||
|---|---|---|---|---|---|
| Package | Ubuntu Bionic | MacOS** | Windows 10** | Debian Buster | OpenEmbedded** |
| CMake | 3.10.2 | 3.14.4 | 3.14.4 | 3.13.4 | 3.16.1 / 3.12.2**** |
| EmPY | 3.3.2 | ||||
| Gazebo | 9.0.0 | 9.9.0 | N/A | 9.8.0* | N/A |
| Ogre | 1.10* | N/A | |||
| OpenCV | 3.2.0 | 4.1.0 | 3.4.6* | 3.2.0 | 4.1.0 / 3.2.0**** |
| OpenSSL | 1.1.0g | 1.0.2r | 1.0.2r | 1.1.1c | 1.1.1d / 1.1.1b**** |
| Poco | 1.8.0 | 1.9.0 | 1.8.0* | 1.9.0 | 1.9.4 |
| Python | 3.6.5 | 3.7.3 | 3.7.3 | 3.7.3 | 3.8.2 / 3.7.5**** |
| Qt | 5.9.5 | 5.12.3 | 5.10.0 | 5.11.3 | 5.14.1 / 5.12.5**** |
| Linux only | |||||
| PCL | 1.8.1 | N/A | N/A | 1.9.1 | 1.8.1 |
| RMW DDS Middleware Providers | |||||
| Connext DDS | 5.3.1*** | N/A | |||
| Cyclone DDS | 0.7.x (Coquette) | ||||
| Fast-RTPS | 1.9.0 | ||||
| OpenSplice | 6.9.190705OSS | N/A | |||
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime. The versions shown for OpenEmbedded are those provided by the 3.1 Dunfell release series; the versions provided by the other supported release series are listed here: https://github.com/ros/meta-ros/wiki/Package-Version-Differences . Note that the OpenEmbedded releases series for which a ROS distro has support will change during its support time frame, as per the OpenEmbedded support policy shown here: https://github.com/ros/meta-ros/wiki/Policies#openembedded-release-series-support . However, it will always be supported by least one stable OpenEmbedded release series.
" *** " It is anticipated that this will be increased to Connext DDS 6.0.0 pending migration patches [7].
" **** " webOS OSE provides this different version.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu, Debian: apt
- MacOS: Homebrew, pip
- Windows: Chocolatey, pip
- OpenEmbedded: opkg
Build System Support:
- ament_cmake
- cmake
- setuptools
Targeted platforms:
| Architecture | Ubuntu Focal (20.04) | MacOS Mojave (10.14) | Windows 10 (VS2019) | Debian Buster (10) | OpenEmbedded / webOS OSE |
|---|---|---|---|---|---|
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 1 [a][s] | Tier 3 [s] | |
| arm64 | Tier 1 [d][a][s] | Tier 3 [s] | Tier 3 [s] | ||
| arm32 | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] |
The following indicators show what delivery mechanisms are available for each platform.
" [d] " Debian packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Foxy ROS 2 repos file [9].
" [s] " Compilation from source.
Middleware Implementation Support:
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
|---|---|---|---|---|
| rmw_fastrtps_cpp | eProsima Fast-RTPS | Tier 1 | All Platforms | All Architectures |
| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 1 | All Platforms | All Architectures |
| rmw_connext_cpp | RTI Connext | Tier 1 | All Platforms except Debian and OpenEmbedded | All Architectures except arm64/arm32 |
| rmw_fastrtps_dynamic_cpp | eProsima Fast-RTPS | Tier 2 | All Platforms | All Architectures |
| rmw_gurumdds_cpp | GurumNetworks GurumDDS | Tier 3 | Ubuntu and Windows | All Architectures except arm32 |
Middleware implementation support is dependent upon the platform support tier. For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support.
Minimum language requirements:
- C++14
- Python 3.7
Dependency Requirements:
| Required Support | Recommended Support | ||||
|---|---|---|---|---|---|
| Package | Ubuntu Focal | MacOS** | Windows 10** | Debian Buster | OpenEmbedded** |
| CMake | 3.16.3 | 3.14.4 | 3.14.4 | 3.13.4 | 3.16.1 / 3.12.2**** |
| EmPY | 3.3.2 | ||||
| Gazebo | 11.0.0* | 11.0.0 | N/A | 11.0.0* | N/A |
| Ignition | Citadel* | N/A | Citadel* | N/A | |
| Ogre | 1.10* | N/A | |||
| OpenCV | 4.2.0 | 4.2.0 | 3.4.6* | 3.2.0 | 4.1.0 / 3.2.0**** |
| OpenSSL | 1.1.1d | 1.1.1f | 1.1.1f | 1.1.1d | 1.1.1d / 1.1.1b**** |
| Poco | 1.9.2 | 1.9.0 | 1.8.0* | 1.9.0 | 1.9.4 |
| Python | 3.8.0 | 3.8.2 | 3.8.0 | 3.7.3 | 3.8.2 / 3.7.5**** |
| Qt | 5.12.5 | 5.12.3 | 5.10.0 | 5.11.3 | 5.14.1 / 5.12.5**** |
| Linux only | |||||
| PCL | 1.10.0 | N/A | N/A | 1.9.1 | 1.10.0 |
| RMW DDS Middleware Providers | |||||
| Connext DDS | 5.3.1 | N/A | |||
| Cyclone DDS | 0.7.x (Coquette) | ||||
| Fast-RTPS | 2.0.x | ||||
| Gurum DDS | 2.7.x | N/A | 2.7.x | N/A | |
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime. The versions shown for OpenEmbedded are those provided by the 3.1 Dunfell release series; the versions provided by the other supported release series are listed here: https://github.com/ros/meta-ros/wiki/Package-Version-Differences . Note that the OpenEmbedded releases series for which a ROS distro has support will change during its support time frame, as per the OpenEmbedded support policy shown here: https://github.com/ros/meta-ros/wiki/Policies#openembedded-release-series-support . However, it will always be supported by least one stable OpenEmbedded release series.
" **** " webOS OSE provides this different version.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu, Debian: apt
- MacOS: Homebrew, pip
- Windows: Chocolatey, pip
- OpenEmbedded: opkg
Build System Support:
- ament_cmake
- cmake
- setuptools
Targeted platforms:
| Architecture | Ubuntu Focal (20.04) | Windows 10 (VS2019) | RHEL 8 | macOS | Debian Bullseye (11) | OpenEmbedded / webOS OSE |
|---|---|---|---|---|---|---|
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 2 [d][a][s] | Tier 3 [s] | Tier 3 [s] | |
| arm64 | Tier 1 [d][a][s] | Tier 3 [s] | Tier 3 [s] | |||
| arm32 | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] |
The following indicators show what delivery mechanisms are available for each platform.
" [d] " Distribution-specific (Debian, RPM, etc.) packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Galactic ROS 2 repos file [10].
" [s] " Compilation from source.
Middleware Implementation Support:
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
|---|---|---|---|---|
| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 1 | All Platforms | All Architectures |
| rmw_fastrtps_cpp | eProsima Fast-DDS | Tier 1 | All Platforms | All Architectures |
| rmw_connextdds | RTI Connext | Tier 1 | Ubuntu, Windows, and macOS | All Architectures except arm64 |
| rmw_fastrtps_dynamic_cpp | eProsima Fast-DDS | Tier 2 | All Platforms | All Architectures |
| rmw_gurumdds_cpp | GurumNetworks GurumDDS | Tier 3 | Ubuntu and Windows | All Architectures except arm32 |
Middleware implementation support is dependent upon the platform support tier. For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support.
Minimum language requirements:
- C++17
- Python 3.6
Dependency Requirements:
| Required Support | Recommended Support | |||||
|---|---|---|---|---|---|---|
| Package | Ubuntu Focal | Windows 10** | RHEL 8 | macOS** | Debian Bullseye | OpenEmbedded** |
| CMake | 3.16.3 | 3.19.1 | 3.18.2 | 3.14.4 | 3.18.4 | 3.16.1 / 3.12.2**** |
| EmPY | 3.3.2 | |||||
| Gazebo | 11.0.0* | N/A | N/A | 11.0.0 | 11.0.0* | N/A |
| Ignition | Edifice* | N/A | N/A | Edifice* | Edifice* | N/A |
| Ogre | 1.10* | N/A | ||||
| OpenCV | 4.2.0 | 3.4.6* | 3.4.6 | 4.2.0 | 4.5.1 | 4.1.0 / 3.2.0**** |
| OpenSSL | 1.1.1d | 1.1.1i | 1.1.1g | 1.1.1f | 1.1.1i | 1.1.1d / 1.1.1b**** |
| Python | 3.8.0 | 3.8.3 | 3.6.8 | 3.8.2 | 3.9.1 | 3.8.2 / 3.7.5**** |
| Qt | 5.12.5 | 5.12.10 | 5.12.5 | 5.12.3 | 5.15.2 | 5.14.1 / 5.12.5**** |
| Linux only | ||||||
| PCL | 1.10.0 | N/A | 1.11.1 | N/A | 1.11.1 | 1.10.0 |
| RMW DDS Middleware Providers | ||||||
| Cyclone DDS | 0.8.x (Réplique) | |||||
| Fast-DDS | 2.3.x | |||||
| Connext DDS | 5.3.1 | N/A | 5.3.1 | N/A | ||
| Gurum DDS | 2.7.x | N/A | ||||
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime. The versions shown for OpenEmbedded are those provided by the 3.1 Dunfell release series; the versions provided by the other supported release series are listed here: https://github.com/ros/meta-ros/wiki/Package-Version-Differences . Note that the OpenEmbedded releases series for which a ROS distro has support will change during its support time frame, as per the OpenEmbedded support policy shown here: https://github.com/ros/meta-ros/wiki/Policies#openembedded-release-series-support . However, it will always be supported by least one stable OpenEmbedded release series.
" **** " webOS OSE provides this different version.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu, Debian: apt
- Windows: Chocolatey, pip
- macOS: Homebrew, pip
- RHEL: dnf
- OpenEmbedded: opkg
Build System Support:
- ament_cmake
- cmake
- setuptools
Targeted platforms:
| Architecture | Ubuntu Jammy (22.04) | Windows 10 (VS2019) | RHEL 8 | Ubuntu Focal (20.04) | macOS | Debian Bullseye (11) | OpenEmbedded / webOS OSE |
|---|---|---|---|---|---|---|---|
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 2 [d][a][s] | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] | |
| arm64 | Tier 1 [d][a][s] | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] | |||
| arm32 | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] |
The following indicators show what delivery mechanisms are available for each platform.
" [d] " Distribution-specific (Debian, RPM, etc.) packages will be provided for this platform for packages submitted to the rosdistro.
" [a] " Binary releases are provided as a single archive per platform containing all packages in the Humble ROS 2 repos file [11].
" [s] " Compilation from source.
Middleware Implementation Support:
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
|---|---|---|---|---|
| rmw_fastrtps_cpp | eProsima Fast-DDS | Tier 1 | All Platforms | All Architectures |
| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 1 | All Platforms | All Architectures |
| rmw_connextdds | RTI Connext | Tier 1 | Ubuntu, Windows, and macOS | All Architectures except arm64 |
| rmw_fastrtps_dynamic_cpp | eProsima Fast-DDS | Tier 2 | All Platforms | All Architectures |
| rmw_gurumdds_cpp | GurumNetworks GurumDDS | Tier 3 | Ubuntu and Windows | All Architectures except arm32 |
Middleware implementation support is dependent upon the platform support tier. For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support.
Minimum language requirements:
- C++17
- Python 3.6
Dependency Requirements:
| Required Support | Recommended Support | ||||||
|---|---|---|---|---|---|---|---|
| Package | Ubuntu Jammy | Windows 10** | RHEL 8 | Ubuntu Focal | macOS** | Debian Bullseye | OpenEmbedded** |
| CMake | 3.22.1 | 3.22.0 | 3.20.2 | 3.16.3 | 3.14.4 | 3.18.4 | 3.22.3 / 3.16.5*** |
| EmPY | 3.3.4 | 3.3.2 | |||||
| Gazebo | 11.x.x* | N/A | N/A | 11.0.0* | 11.x.x | 11.x.x* | N/A |
| Ignition | Fortress* | N/A | N/A | Fortress* | Fortress* | Fortress* | N/A |
| NumPy | 1.21.5 | 1.18.4 | 1.14.3 | 1.17.4 | 1.18.4 | 1.19.5 | N/A |
| Ogre | 1.12.1* | N/A | |||||
| OpenCV | 4.5.4 | 4.5.4 | 3.4.6 | 4.2.0 | 4.2.0 | 4.5.1 | 4.1.0 / 3.2.0*** |
| OpenSSL | 1.1.1l | 1.1.1l | 1.1.1k | 1.1.1d | 1.1.1f | 1.1.1i | 1.1.1d / 1.1.1b*** |
| Python | 3.10.4 | 3.8.3 | 3.6.8 | 3.8.0 | 3.8.2 | 3.9.1 | 3.8.2 / 3.7.5*** |
| Qt | 5.15.3 | 5.12.10 | 5.15.2 | 5.12.5 | 5.12.3 | 5.15.2 | 5.14.1 / 5.12.5*** |
| Linux only | |||||||
| PCL | 1.12.1 | N/A | 1.11.1 | 1.10.0 | N/A | 1.11.1 | 1.10.0 |
| RMW DDS Middleware Providers | |||||||
| Cyclone DDS | 0.9.x (Papillons) | ||||||
| Fast-DDS | 2.6.x | ||||||
| Connext DDS | 6.0.1 | N/A | 6.0.1 | N/A | |||
| Gurum DDS | 2.7.x | N/A | 2.7.x | N/A | |||
" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories).
" ** " means that the dependency may see multiple version changes, because the dependency uses a package manager that continually updates the dependency without a stable API.
" *** " webOS OSE provides this different version.
This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark.
Package manager use for dependencies:
- Ubuntu, Debian: apt
- Windows: Chocolatey, pip
- macOS: Homebrew, pip
- RHEL: dnf
- OpenEmbedded: opkg
Build System Support:
- ament_cmake
- cmake
- setuptools
Rolling Ridley is a rolling development distribution of ROS 2 as described in REP-2002 [8].
The target platform for Rolling Ridley will update as new upstream distributions are selected for ROS 2 development. As of March 2022, Rolling Ridley targets the same platforms as ROS 2 Humble Hawksbill.
This document is provided to help plan future development for libraries. The primary platforms for ROS 2 are Canonical's Ubuntu releases, and our intent is to track these releases as best as possible while also allowing for current, thirdparty libraries to be used. macOS and Windows being rolling distributions, ROS 2 will target the latest state of these distributions at the time of the release.
Target platforms for future releases are speculative and are based on consulting Ubuntu's release and end-of-life schedule [1].
| [1] | Ubuntu Releases with End-of-Life Dates (https://wiki.ubuntu.com/Releases) |
| [2] | (1, 2, 3) C11 is required, but support for some non-compliant systems is also provided, e.g. MSVC. |
| [3] | REP 2001 (http://www.ros.org/reps/rep-2001.html) |
| [4] | Crystal ROS 2 Repos File (https://github.com/ros2/ros2/blob/crystal/ros2.repos) |
| [5] | Dashing ROS 2 Repos File (https://github.com/ros2/ros2/blob/dashing/ros2.repos) |
| [6] | Eloquent ROS 2 Repos File (https://github.com/ros2/ros2/blob/eloquent/ros2.repos) |
| [7] | Connext DDS 6.0.0 Support (ros2/rmw_connext#375) |
| [8] | REP 2002 (http://www.ros.org/reps/rep-2002.html) |
| [9] | Foxy ROS 2 Repos File (https://github.com/ros2/ros2/blob/foxy/ros2.repos) |
| [10] | Galactic ROS 2 Repos File (https://github.com/ros2/ros2/blob/galactic/ros2.repos) |
| [11] | Humble ROS 2 Repos File (https://github.com/ros2/ros2/blob/humble/ros2.repos) |
This document has been placed in the public domain.