diff --git a/rep-2000.rst b/rep-2000.rst index 6298da486..5e55093ae 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -547,6 +547,122 @@ Build System Support: - cmake - setuptools +Foxy Fitzroy (May 2020 - May 2023) +---------------------------------- + +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 2 [d][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 | All Architectures except arm64/arm32 | +| | | | and OpenEmbedded | | ++--------------------------+---------------------+---------------+-----------------------------+--------------------------------------+ +| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 1 | All Platforms | 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 3.7 + + +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 Milddleware Providers** | ++-------------+----------------+---------------+----------------+----------------+---------------------+ +| Connext DDS | 5.3.1 | N/A | ++-------------+----------------+---------------+----------------+----------------+---------------------+ +| Cyclone DDS | 0.5.1 (Eusebius) | ++-------------+----------------+---------------+----------------+----------------+---------------------+ +| Fast-RTPS | 1.10.0 | ++-------------+----------------+---------------+----------------+----------------+---------------------+ + +" * " 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. +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 + + Motivation ========== @@ -575,8 +691,8 @@ References and Footnotes (https://github.com/ros2/ros2/blob/dashing/ros2.repos) .. [6] Eloquent ROS 2 Repos File (https://github.com/ros2/ros2/blob/master/ros2.repos) -.. [7] Connext DDS 6.0.0 Migration - (https://github.com/ros2/rmw_connext/pull/351) +.. [7] Connext DDS 6.0.0 Support + (https://github.com/ros2/rmw_connext/issues/375) Copyright =========