ROS1 vs ROS2: Key differences, benefits, and why the future belongs to ROS2

The Robot Operating System (ROS) has been a game-changer in the robotics world for over a decade. It has empowered countless researchers, hobbyists, and engineers to develop complex robotic systems with relative ease. However, as robotics applications scale up in complexity and need to meet modern computing and safety standards, the limitations of ROS1 have become apparent.

Enter ROS2—the successor to ROS1. Not just a version upgrade, ROS2 represents a complete architectural overhaul. But what exactly sets ROS2 apart from its predecessor? Is ROS2 ready to replace ROS1 in all scenarios, or are there still valid reasons to stick with the original? This article dives deep into the core differences between ROS1 and ROS2, unpacks the technological improvements, and provides practical insights for anyone working in the robotics space.

The Genesis of ROS1: A Milestone in Open Source Robotics

Before we dive into comparisons, it’s essential to understand the foundation laid by ROS1. Launched in 2007 by Willow Garage, ROS1 provided an open-source framework that standardized how software components communicate in a robotic system. It came equipped with tools for simulation, visualization, debugging, and real-time sensor and actuator management.

ROS1’s modular design and vast community support quickly made it the go-to platform for prototyping and academic research. However, it was never designed for real-time systems, safety-critical applications, or distributed computing. Over time, these limitations began to hinder its adoption in commercial and industrial environments.

Why ROS2? The Need for a Modern Robotics Framework

The push toward ROS2 stemmed from several gaps in ROS1’s architecture, particularly in areas like:

• Real-time control
• Multi-robot coordination
• Security and authentication
• Cross-platform compatibility
• Commercial-grade deployments

Developed under the stewardship of Open Robotics and with backing from industry giants like Amazon, Intel, and Bosch, ROS2 is not merely an upgrade—it’s a complete rethinking of the robot middleware layer. It builds upon modern software design practices and standards while preserving the core philosophies that made ROS1 successful.

Core Architectural Differences

1. Middleware: From ROS Master to DDS

The most significant architectural shift from ROS1 to ROS2 lies in the communication middleware. ROS1 uses a centralized ROS Master to manage connections between nodes. This introduces a single point of failure and makes distributed computing difficult.

ROS2 replaces this with the Data Distribution Service (DDS), a decentralized, peer-to-peer communication protocol that supports real-time, reliable, and secure messaging. DDS enables:

• Better scalability across networks
• Fault tolerance in multi-robot systems
• Quality of Service (QoS) settings to fine-tune performance for different use cases

With DDS, ROS2 nodes can discover each other dynamically without needing a master server, making it ideal for complex, distributed robotic systems.

2. Real-Time Capabilities

ROS1 lacks native real-time support, making it unsuitable for applications like robotic surgery, autonomous vehicles, or drones, where deterministic behavior is crucial.

ROS2 introduces real-time computing capabilities through its compatibility with real-time operating systems (RTOS) and scheduling mechanisms like the Real-Time Executor. By enabling bounded latency and jitter control, ROS2 becomes viable for time-sensitive tasks.

3. Security

Security in ROS1 was practically non-existent. There was no built-in support for encrypted messaging, authenticated nodes, or secure data handling.

In contrast, ROS2 leverages DDS Security specifications to offer:

• Encrypted communication
• Access control policies
• Authentication of publishers and subscribers

These features make ROS2 better suited for use in industrial automation, defense, and healthcare where data integrity and security are critical.

4. Cross-Platform Support

ROS1 is primarily developed for Linux environments, with partial support for Windows and macOS. ROS2 is fully cross-platform, designed from the ground up to work on Linux, Windows, and macOS.

This opens the door for more diverse development environments and integration with cloud-based robotics applications or edge computing solutions.

Developer Experience: Familiar Yet Modern

ROS2 maintains many of the tools developers love from ROS1—like rviz, rosbag, and gazebo—but with enhanced capabilities. The transition from ROS1 to ROS2 is not plug-and-play; however, the syntax and concepts are familiar enough for experienced ROS1 users to adapt quickly.

Improvements include:

• colcon build system replacing catkin, offering better dependency management and parallel builds.
• Improved launch system using Python for dynamic launch file creation.
• More modular package structure, allowing for better reusability and cleaner architecture.

While some packages from ROS1 haven’t yet been ported, the ROS2 ecosystem is rapidly growing and stabilizing.

ROS1 Strengths and Current Use Cases

Despite its limitations, ROS1 remains popular in academic settings, early-stage prototyping, and low-complexity robotics applications. Reasons include:

• Large package repository
• Extensive documentation
• Vibrant community support
• Simplicity for small-scale systems

In cases where the system doesn’t require real-time execution, high security, or distributed computing, ROS1 is still a practical and lightweight option.

ROS2 Maturity: Is It Production Ready?

As of the latest distributions (e.g., ROS2 Iron and Humble), ROS2 has reached a level of maturity suitable for production-grade applications. Industry adoption is accelerating in areas such as:

• Autonomous vehicles
• Manufacturing robots
• Service robots and drones
• Medical robotics

Major robotics companies are already shipping commercial products powered by ROS2, thanks to its robust middleware and real-time guarantees.

Migration Challenges and Strategies

Transitioning from ROS1 to ROS2 is not trivial, especially for large codebases. Some of the challenges include:

• API changes that break backward compatibility
• Rewriting custom message definitions
• Porting custom packages
• Learning new tools and paradigms

To aid migration, Open Robotics and the community provide:

• ros1_bridge, a tool that allows ROS1 and ROS2 nodes to intercommunicate
• Migration guides for key packages
• Developer tools for testing and benchmarking ROS2 performance

For teams looking to future-proof their development, gradual migration—starting with non-critical components—is often the best path.

ROS1 vs ROS2: A Comparative Summary

The Future is ROS2

While ROS1 has served the robotics world with distinction, the future of robotics development is firmly rooted in ROS2. Its modern architecture, real-time capabilities, and enterprise-grade features align better with the evolving demands of robotics in the real world.

That said, ROS1 continues to be a valuable tool for learning, experimentation, and rapid prototyping. The decision to switch depends on your use case, technical requirements, and long-term goals. But for anyone building the next generation of intelligent machines, ROS2 is no longer an option—it’s the new standard.

Final Thoughts

The shift from ROS1 to ROS2 is not just a version change—it’s a paradigm shift. ROS2 unlocks new possibilities in terms of scale, performance, and application domains. As the ecosystem matures, tools stabilize, and more developers embrace ROS2, we’re likely to see unprecedented growth and innovation in the robotics field.

Whether you’re a student, a startup founder, or a robotics engineer in a large enterprise, understanding the differences between ROS1 and ROS2 will be crucial to making informed decisions for your robotics stack.