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REP:2000
Title:ROS 2 Target Platforms
Author:Mikael Arguedas <mikael at openrobotics.org>, Steven! Ragnarok <steven at openrobotics.org>
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

Abstract

This REP defines target platforms for each ROS 2 Distribution Release. 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.

Support Tiers

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.

Platforms by Distribution

If planned support for a target platform is changed, notice will be sent to discourse to enable discussion of this issue.

Ardent Apalone (December 2017 - December 2018)

Required support
Architecture Ubuntu Xenial (16.04) MacOS Sierra (10.12) Windows 10 (VS2015)
amd64 X X X
arm64 X    

Minumum 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

Bouncy Bolson (June 2018 - June 2019)

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.

Minumum 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

Crystal Clemmys (December 2018 - December 2019)

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.

Minumum 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 Milddleware 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

Dashing Diademata (May 2019 - May 2021)

Targeted platforms:

Architecture Ubuntu Bionic (18.04) MacOS Sierra (10.12) Windows 10 (VS2019) Debian Stretch (9)
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]
arm32 Tier 2 [a][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 All Architectures except arm64/arm32
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

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.

Minumum language requirements:

  • C++14
  • Python 3.5

Dependency Requirements:

  Required Support Recommended Support
Package Ubuntu Bionic MacOS** Windows 10** Debian Stretch
CMake 3.10.2 3.14.4 3.14.4 3.7.2
EmPY 3.3.2 3.3.2 3.3.2 3.3.2
Gazebo 9.0.0 9.9.0 N/A 9.8.0*
Ogre 1.10*
OpenCV 3.2.0 4.1.0 3.4.6* 3.2*
OpenSSL 1.1.0g 1.0.2r 1.0.2r 1.1.0j
Poco 1.8.0 1.9.0 1.8.0* 1.8.0*
Python 3.6.5 3.7.3 3.7.3 3.5.3
Qt 5.9.5 5.12.3 5.10.0 5.7.1
  Linux only
PCL 1.8.1 N/A N/A 1.8.0
RMW DDS Milddleware Providers
Connext DDS 5.3.1 N/A
Fast-RTPS 1.8.0
OpenSplice 6.9.190403OSS

" * " 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, Debian: apt
  • MacOS: Homebrew, pip
  • Windows: Chocolatey, pip

Build System Support:

  • ament_cmake
  • cmake
  • setuptools

Motivation

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.

Rationale

Target platforms for future releases are speculative and are based on consulting Ubuntu's release and end-of-life schedule [1].

References and Footnotes

[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/master/ros2.repos)