Christopher Ho (Apex.AI, Inc), Sumanth Nirmal (Apex.AI, Inc), Dejan Pangercic (Apex.AI, Inc), Shinpei Kato (Tier IV, Inc), Jan Becker (Apex.AI, Inc)
Over the past 10 years, ROS 1 has proven itself to be the framework of choice for prototyping and developing large robotic applications. Many limitations preventing ROS 1 from being used in production applications have been discovered over the years, and after significant prototyping, ROS 2 makes great headway in making ROS 2 suitable for production. Autonomous driving is the next great technology waiting to be realized and transform our society. A full autonomous driving stack is inarguably a large robotic system, and consequently ROS 2 is the right framework upon which to develop a full autonomous driving stack. To prove this, we have developed a part of the autonomous driving stack based on ROS 2.