The Evolution of Robotic Systems and Modern Migration Strategies to the ROS 2 Ecosystem

The world of robotics has undergone a massive evolution over the last decade, shifting from monolithic structures to distributed and modular architectures. Robot Operating System (ROS), which sits at the center of this evolution—particularly with versions like “Lush” and “Noetic”—has set academic and industrial standards. However, modern needs such as real-time data processing, industrial safety standards, and multi-robot coordination have begun to push the limits of the original ROS architecture. At this point, ROS 2, with its new architecture built upon the Data Distribution Service (DDS) layer, is moving robotic systems out of the laboratory environment and into critical industrial operational fields.

The Evolution of Robotic Systems and Modern Migration Strategies to the ROS 2 Ecosystem

Figure 1: The Evolution of Robotic Systems and Modern Migration Strategies to the ROS 2 Ecosystem.

1. Architectural Paradigm Shift from ROS 1 to ROS 2

The ROS 1 architecture was based on a central registry called “ROS Master.” All nodes needed this center to find each other. This created a “Single Point of Failure” risk. ROS 2 completely abandoned this structure and switched to the DDS (Data Distribution Service) standard.

Technical Advantages of the DDS Layer

DDS is a decentralized communication protocol used in industrial, aerospace, and military systems. Building ROS 2 on this layer provides the following technical gains:

  • Discovery: Nodes find each other dynamically; they do not need a central server.
  • Quality of Service (QoS): Parameters such as data packet priority, reliability, and persistence (durability) can be configured on a per-topic basis.
  • Real-Time Capability: ROS 2 offers a deterministic structure that can integrate with real-time operating systems (RTOS).

2. Software Architecture and Library Modernization

One of the biggest challenges when migrating legacy systems to ROS 2 is that the client libraries (rclcpp and rclpy) have been completely rewritten. The roscpp and rospy libraries in ROS 1 have been replaced by a more modular and performance-focused structure.

Lifecycle Nodes and Manageability

The “Managed Nodes” concept introduced with ROS 2 allows direct control of a robot’s state machine. The ability of a node to transition between Unconfigured, Inactive, Active, and Finalized states ensures that the system is started safely and stopped in a controlled manner in case of an error.

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>

class RobotSensorNode : public rclcpp_lifecycle::LifecycleNode {
public:
    RobotSensorNode() : LifecycleNode("sensor_node") {}

    CallbackReturn on_configure(const rclcpp_lifecycle::State &) {
        // Initialize sensor hardware
        RCLCPP_INFO(get_logger(), "Configuring sensor...");
        return CallbackReturn::SUCCESS;
    }

    CallbackReturn on_activate(const rclcpp_lifecycle::State &) {
        // Start publishing data
        RCLCPP_INFO(get_logger(), "Sensor activated.");
        return CallbackReturn::SUCCESS;
    }
};

3. Hardware Integration and ROS 2 Control

In legacy systems, motor drivers and sensors were often controlled via complex and non-standard interfaces. With ROS 2, the ros2_control framework standardized the Hardware Abstraction Layer (HAL).

Modern Hardware Interfaces

Thanks to the HardwareComponentInfo and SystemInterface structures, a controller written for a robot arm or an autonomous mobile platform (AMR) can remain the same even if the hardware changes. This enables dynamic loading and unloading of controllers via the “Controller Manager.”

Important Libraries:

  • nav2 (Navigation 2): Advanced navigation stack developed for ROS 2 that uses Behavior Trees.
  • MoveIt 2: The ROS 2 version of the industry-standard library for planning and manipulation of robot arms.
  • Fast-DDS / CycloneDDS: Popular DDS implementations used in the communication layer.

4. Critical Challenges in the Migration Process

The modernization process is not just about copying code. The main obstacles encountered are:

Message Types and Conversion (The Bridge)

The ros1_bridge is used in cases where ROS 1 and ROS 2 systems need to work together. However, this bridge can create significant latency and CPU load during high-frequency data streams (e.g., LiDAR data). Therefore, it is recommended that critical systems be modernized with a module-based full migration rather than a gradual one.

Build System: From Catkin to Colcon

catkin_make in ROS 1 has been replaced by the colcon build system. package.xml files used in package definitions must now support the format 3 standard. Furthermore, CMake configurations must be revised to use the ament_cmake library.

5. Security Layer: SROS 2

The weakest link in traditional robotic systems was cybersecurity. ROS 2 offers built-in security at the communication layer with the SROS 2 plugin.

  • Authentication: Only authorized nodes can join the network.
  • Encryption: Data packets are encrypted with AES-GCM algorithms.
  • Access Control: It is defined in detail which node can write to or read from which topic.

6. Application Example: A Modern Subscriber Structure

The code fragment below demonstrates a modern subscriber example with QoS (Quality of Service) settings configured using the ROS 2 C++ API. This structure is optimized for telemetry data where data loss is unacceptable.

#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/imu.hpp"

class ImuProcessor : public rclcpp::Node {
public:
  ImuProcessor() : Node("imu_processor") {
    // QoS configuration for reliable communication
    auto qos = rclcpp::QoS(rclcpp::KeepLast(10));
    qos.reliable();
    qos.durability_volatile();

    subscription_ = this->create_subscription<sensor_msgs::msg::Imu>(
      "/robot/sensor/imu", qos, 
      std::bind(&ImuProcessor::topic_callback, this, std::placeholders::_1));
  }

private:
  void topic_callback(const sensor_msgs::msg::Imu::SharedPtr msg) const {
    RCLCPP_INFO(this->get_logger(), "Acceleration Data: [x: %.2f, y: %.2f, z: %.2f]",
                msg->linear_acceleration.x, 
                msg->linear_acceleration.y, 
                msg->linear_acceleration.z);
  }
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr subscription_;
};

int main(int argc, char * argv[]) {
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<ImuProcessor>());
  rclcpp::shutdown();
  return 0;
}

7. Conclusion and Future Projection

While migrating legacy robotic architectures to ROS 2 may initially seem like a high engineering cost, it is a necessity for the scalability and security of the system in the long run. DDS-based communication, advanced real-time capabilities, and rich library support transform robots from just “autonomous vehicles” into “smart ecosystems” that work in integration with each other and cloud systems.

The best approach in the modernization process is to start from the hardware layer of the system and integrate it into the ros2_control structure, and then move the navigation/planning layers to current standards such as Nav2 and MoveIt 2. Future robotic systems will be shaped by artificial intelligence algorithms built upon this modern architecture.

Technical Note: Attention should be paid to memory management during the migration process. The UniquePtr and SharedPtr mechanisms used in ROS 2, when combined with the loaned messages feature for zero-copy data transfer, can reduce CPU usage by up to 30% for high-bandwidth sensor data.

#blog #robotic #robotics #autonomous #ros2 #dds #industrial-automation #real-time-systems #control-systems #microservices

Author: Abdulkadir Güngör

Share on LinkedIn Go Back

Related Contents

Modern Rechargeable Battery Technologies and Electrochemical Performance Analysis

This blog post, which details modern battery technologies and the electrochemical operating principles of these systems, examines the technical specifications, performance metrics, and usage advantages of Li-ion, LiFePO4, NiMH, Ni-Cd, and lead-acid batteries from an engineering perspective.

blog electronics battery-technologies lithium-ion li-ion battery-performance lifepo4 nickel-metal-hydride rechargeable-batteries battery-management-systems ni-cd ni-mh energy-systems battery-analysis

Post-Exploitation Strategies and In-Depth Analysis in Internal Network Penetration Tests

This article analyzes post-exploitation techniques in internal network penetration tests, including privilege escalation methods, persistence mechanisms, and lateral movement processes within Active Directory with technical code examples. Professional tools such as Mimikatz, Impacket, and BloodHound are covered.

blog cyber-security network-security information-security cloud-security network privilege-escalation penetration-testing red-team post-exploitation active-directory lateral-movement intranet internal-network local-network

OWASP Top 10 Security Strategies in .NET 8 Projects

A critical guide for secure coding in .NET 8 projects! Discover how to protect your application using tools like EF Core, Data Protection API, and policy-based authorization against OWASP Top 10 threats with technical examples. Learn fundamental strategies for secure software architecture.

blog cyber-security dotnet owasp network-security information-security cloud-security

Modern Network Strategies with Zero Trust Architecture

Zero Trust architecture is a modern security strategy that dismantles the 'default trust' paradigm in today's hybrid world, where network boundaries have become increasingly blurred. This approach treats every user, device, and service as a potential risk factor—whether inside or outside the network—by subjecting access requests to continuous, contextual, and rigorous verification.

blog cyber-security zero-trust network-security information-security cloud-security

Veri Analizi Okulu: Data Science and Artificial Intelligence Training

Operating under the coordination of Yükseköğretim Kurumu (YÖK), the Veri Analizi Okulu (VAO) combines theoretical knowledge with practice through modules in Basic Statistics, Computational Social Sciences, Panel Data Analysis, Artificial Intelligence, Digital Humanities, and Psychometrics. Check out our blog post for both a high-quality education and your career.

blog veri-analizi-okulu vao basic-statistics computational-social-sciences panel-data-analysis artificial-intelligence ai-and-facilitating-tools ai ai-and-machine-learning digital-humanities psychometrics

Nur-o-link: Remote-Controlled Robotic Arm and Vehicle System

The Nur-o-link project is an innovative robotics study that combines remote-controllable robotic arm and autonomous vehicle features, highlighting the interaction between hardware and software.

blog robotic robotic-arm robotik iot embedded cplusplus arduino esp32 remote-control software-hardware rex-8in1-v2 electronic

Gungor-robot-car: ESP32 Camera-Controlled Robot Car

A robotic vehicle project capable of live video streaming via WiFi and remote control through a browser-based interface, powered by the ESP32-WROVER module.

blog robotics robotic iot embedded cplusplus arduino esp32 esp32-cam esp32-camera remote-control robotic-car electronic electronics software-hardware

Engineering Fundamentals and Mechanical Analysis of Flexible Structures in Soft Robotic Systems

A high-technical-depth blog post focusing on control algorithms and material mechanics, exploring the transformation of traditional rigid robotic systems through flexible elastomers and bio-mimetic approaches.

blog robotics soft-robotics mechatronics control-systems simulation engineering

Collective Intelligence and Dynamic Task Allocation in Swarm Robotic Systems

A technical blog post examining the technical foundations, algorithmic approaches, and software libraries for collective intelligence, dynamic task sharing, and distributed control mechanisms in swarm robotic systems.

blog robotics autonomous swarm-robotics multi-agent-systems task-allocation ros2 collective-decision-making distributed-systems swarm-intelligence intelligent-robots

Agriculture 4.0 and Next-Generation Approaches in Autonomous Robotic Systems

A blog post covering navigation strategies for autonomous vehicles in the Agriculture 4.0 ecosystem, deep learning-based crop monitoring algorithms, and ROS 2-based software architectures.

blog robotics autonomous agriculture-4-0 path-planning crop-monitoring ros2 smart-farming precision-agriculture ai lidar image-processing sensor-fusion edge-computing

Topological Approaches in Data Science and Graph Theory-Based Network Analysis with Gephi

This technical blog post provides an in-depth analysis of how to visualize complex relationships in big data sets using graph theory and the Gephi software, accompanied by mathematical metrics and software libraries.

blog gephi network-analysis data-visualization graph-theory network-analysis python data-science centrality-metrics complex-systems

Deep Learning-Based Object Detection and Manipulation Techniques in Autonomous Robotic Systems

A technical review and software integration of modern robotic systems equipped with deep learning architectures, 6-DoF grasping strategies, and real-time object recognition algorithms.

blog robotics autonomous ai python pytorch ros2 yolo opencv autonomous-robots deep-learning machine-learning

Deep Dive into the Fundamental Building Blocks of Electronic Design: Engineering Foundations of Passive Component Selection

This blog post covers the non-ideal parasitic parameters, frequency-dependent behaviors, and modern engineering selection criteria for capacitors and inductors, which are critical in electronic circuit design, along with Python-based analysis methods.

blog electronics passive-components capacitor-selection inductor-parameters esr esl frequency-analysis circuit-simulation

Advanced Spatial Analysis and Data Science Integration in Modern Geographic Information Systems

A blog post covering data mining in the ArcGIS ecosystem, Python-based automation processes, and spatial statistics methods to transform raw location data into strategic decision support mechanisms.

blog arcgis spatial-analysis geographic-information-systems python arcpy mapping spatial-statistics data-science big-data

Superposition Theorem and Analytical Investigation of Multi-Source Linear Circuits

A blog post examining the theoretical foundations, mathematical modeling, and Python-based simulation approaches of the Superposition Theorem, which analyzes the effect of each source individually and combines them in linear circuits containing multiple independent sources.

blog electric electronics superposition-theorem circuit-analysis linear-systems circuit-solution kirchhoff-laws

Mathematical Architecture of Complex Circuits and Nodal Analysis Method

Theoretical analysis of the nodal analysis method based on Kirchhoff's Current Law, the supernode concept, and modeling of circuit solutions with computational engineering approaches using the NumPy library.

blog electric electronic circuit-analysis kirchhoff-laws nodal-analysis numpy circuit-simulation circuit-theory supernode

Joule Heating and Advanced Thermal Management Strategies in Modern Electronics

A blog post covering the physical foundations of Joule heating, advanced PCB design techniques for optimizing thermal management in modern circuits, PID-based cooling algorithms, and embedded software control mechanisms.

blog electricity electronics joule joule-heating thermal-management heat-distribution power-electronics

Engineering Analysis and Selection Strategies for Resistor Parameters in Circuit Design

A technical blog post examining critical resistor parameters beyond Ohm's Law in real-world circuit designs, including parasitic effects and engineering calculations.

blog electrical electronics ohms-law circuit-analysis electronic-design resistor-selection engineering

Reduction Methods and Numerical Analysis Approaches in Linear Circuit Analysis

This article examines methods for simplifying complex electrical circuits using Thevenin and Norton theorems, mathematical analysis steps, and Python-based numerical analysis techniques from a detailed engineering perspective.

blog electric electrical-circuits circuit-analysis thevenin-theorem norton-theorem circuit-reduction linear-circuits

Professional Debugging Strategies and In-Depth Analysis Techniques in Embedded Systems Development

A technical article covering professional debugging processes in embedded systems under hardware constraints and real-time requirements, using critical methods such as JTAG/SWD analysis, memory management, and signal integrity.

blog electronics embedded-systems debugging troubleshooting jtag rtos microcontroller hardware

Communication Layers and Protocol Analysis in Modern Smart Home Ecosystems

An in-depth analysis of the technical architectures of Wi-Fi, BLE, and Zigbee protocols, mesh network structures, and software integration processes in smart home ecosystems.

blog iot zigbee wi-fi bluetooth bluetooth-ble communication-protocols electronics mesh-network

Power Management and Efficiency Strategies in Arduino Projects

A comprehensive technical article on reducing energy consumption to the microampere level in Arduino projects through hardware interventions, deep sleep modes, and the use of low-power regulators.

blog electronics arduino power-optimization embedded-systems deep-sleep battery-life avr

Raspberry Pi and Hardware Integration in Industrial Systems

A comprehensive article examining the use of Raspberry Pi in industrial automation, covering technical details from hardware isolation to RTOS kernel optimization and Modbus/MQTT communication protocols.

blog electronics raspberry-pi iiot iot industrial-automation mqtt rtos plc sensor-data-processing python

Architectural Decision Processes in IoT Projects: A Technical Analysis of ESP32 and ESP8266 Microcontrollers

A comprehensive guide providing an optimized selection strategy for IoT projects by technically analyzing the architectural differences, connectivity capabilities, and hardware features of ESP32 and ESP8266 microcontrollers.

blog iot esp32 esp8266 arduino free-rtos microcontroller electronics wi-fi bluetooth