# Robot Operating System 2: Design, Architecture, and Uses In The Wild

arXiv: https://arxiv.org/abs/2211.07752 · HTML: https://mlsanity.com/paper/2211.07752/

## Key facts

- Cited by 199 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Nov 2022.

## Built on by (most cited first, 30 of 199)

- [Cognitive Architectures for Language Agents](https://mlsanity.com/paper/2309.02427/) (2023)
- [OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion](https://mlsanity.com/paper/2403.19417/) (2024)
- [ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation](https://mlsanity.com/paper/2405.02292/) (2024)
- [LidarDM: Generative LiDAR Simulation in a Generated World](https://mlsanity.com/paper/2404.02903/) (2024)
- [Multi-agent Embodied AI: Advances and Future Directions](https://mlsanity.com/paper/2505.05108/) (2025)
- [Multi-Agent Reinforcement Learning for Autonomous Driving: A Survey](https://mlsanity.com/paper/2408.09675/) (2024)
- [ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning](https://mlsanity.com/paper/2406.19741/) (2024)
- [VLM-Auto: VLM-based Autonomous Driving Assistant with Human-like Behavior and Understanding for Complex Road Scenes](https://mlsanity.com/paper/2405.05885/) (2024)
- [RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World](https://mlsanity.com/paper/2412.00171/) (2024)
- [VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion](https://mlsanity.com/paper/2502.01536/) (2025)
- [Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems](https://mlsanity.com/paper/2301.06230/) (2023)
- [LLM-MARS: Large Language Model for Behavior Tree Generation and NLP-enhanced Dialogue in Multi-Agent Robot Systems](https://mlsanity.com/paper/2312.09348/) (2023)
- [Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent](https://mlsanity.com/paper/2410.06472/) (2024)
- [FRENETIX: A High-Performance and Modular Motion Planning Framework for Autonomous Driving](https://mlsanity.com/paper/2402.01443/) (2024)
- [DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories](https://mlsanity.com/paper/2502.15043/) (2025)
- [Memory-Centric Embodied Question Answering](https://mlsanity.com/paper/2505.13948/) (2025)
- [InCoRo: In-Context Learning for Robotics Control with Feedback Loops](https://mlsanity.com/paper/2402.05188/) (2024)
- [A System for Generalized 3D Multi-Object Search](https://mlsanity.com/paper/2303.03178/) (2023)
- [The Monado SLAM Dataset for Egocentric Visual-Inertial Tracking](https://mlsanity.com/paper/2508.00088/) (2025)
- [Embodied Foundation Models at the Edge: A Survey of Deployment Constraints and Mitigation Strategies](https://mlsanity.com/paper/2603.16952/) (2026)
- [Sample-Efficient Learning to Solve a Real-World Labyrinth Game Using Data-Augmented Model-Based Reinforcement Learning](https://mlsanity.com/paper/2312.09906/) (2023)
- [Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics](https://mlsanity.com/paper/2305.12240/) (2023)
- [AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules](https://mlsanity.com/paper/2604.07039/) (2026)
- [Autonomous Rendezvous with Non-cooperative Target Objects with Swarm Chasers and Observers](https://mlsanity.com/paper/2301.09059/) (2023)
- [HawkDrive: A Transformer-driven Visual Perception System for Autonomous Driving in Night Scene](https://mlsanity.com/paper/2404.04653/) (2024)
- [GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System](https://mlsanity.com/paper/2508.15990/) (2025)
- [ALRM: Agentic LLM for Robotic Manipulation](https://mlsanity.com/paper/2601.19510/) (2026)
- [Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots](https://mlsanity.com/paper/2507.20217/) (2025)
- [Your Vision-Language-Action Model Already Has Attention Heads For Path Deviation Detection](https://mlsanity.com/paper/2603.13782/) (2026)
- [CARLA-Air: Fly Drones Inside a CARLA World -- A Unified Infrastructure for Air-Ground Embodied Intelligence](https://mlsanity.com/paper/2603.28032/) (2026)

## Abstract (arXiv)

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that robots share - the need for a modular, scalable, and reliable architecture; sensing; planning; mobility; and autonomy. The Robot Operating System (ROS) was an integral part of the last chapter, demonstrably expediting robotics research with freely-available components and a modular framework. However, ROS 1 was not designed with many necessary production-grade features and algorithms. ROS 2 and its related projects have been redesigned from the ground up to meet the challenges set forth by modern robotic systems in new and exploratory domains at all scales. In this review, we highlight the philosophical and architectural changes of ROS 2 powering this new chapter in the robotics revolution. We also show through case studies the influence ROS 2 and its adoption has had on accelerating real robot systems to reliable deployment in an assortment of challenging environments.