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Add Kilted Kaiju to REP 2000 #412

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merged 7 commits into from
Dec 19, 2024
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Add Kilted Kaiju to REP 2000 #412

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18aa1ce
Add Kilted Kaiju to REP 2000
cottsay Dec 5, 2024
226e3e0
Update Kilted package versions
cottsay Dec 5, 2024
19c2bdd
Update to Gazebo Ionic for Kilted
cottsay Dec 5, 2024
5cc208e
Switch Windows package manager to pixi/conda
cottsay Dec 5, 2024
9e28e87
Add cargo to build system list
cottsay Dec 5, 2024
6b1c523
Add Zenoh and rmw_zenoh_cpp, reorder RMW and DDS entries
cottsay Dec 6, 2024
dfa615a
Drop DDS nomenclature around middleware
cottsay Dec 11, 2024
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121 changes: 121 additions & 0 deletions rep-2000.rst
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Expand Up @@ -1185,6 +1185,125 @@ Build System Support:
- cmake
- setuptools

Kilted Kaiju (May 2025 - November 2026)
---------------------------------------

Targeted platforms:

+--------------+------------------+---------------+------------------+-------------+-----------------+----------------+
| Architecture | Ubuntu Noble | Windows 10 | RHEL 9 | macOS | Debian Bookworm | OpenEmbedded / |
| | (24.04) | (VS2019) | | | (12) | Yocto Project |
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+==============+==================+===============+==================+=============+=================+================+
| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 2 [d][a][s] | Tier 3 [s] | Tier 3 [s] | Tier 3 [s] |
+--------------+------------------+---------------+------------------+-------------+-----------------+----------------+
| arm64 | Tier 1 [d][a][s] | | | | Tier 3 [s] | Tier 3 [s] |
+--------------+------------------+---------------+------------------+-------------+-----------------+----------------+
| arm32 | Tier 3 [s] | | | | Tier 3 [s] | Tier 3 [s] |
+--------------+------------------+---------------+------------------+-------------+-----------------+----------------+

The following indicators show what delivery mechanisms are available for each platform.

" [d] " Distribution-specific (Debian, RPM, etc.) 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 Jazzy ROS 2 repos file [14]_.

" [s] " Compilation from source.

Middleware Implementation Support:

+--------------------------+------------------------+---------------+----------------------------+--------------------------------+
| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures |
+==========================+========================+===============+============================+================================+
| rmw_fastrtps_cpp | eProsima Fast-DDS | Tier 1 | All Platforms | All Architectures |
+--------------------------+------------------------+---------------+----------------------------+--------------------------------+
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| rmw_connextdds | RTI Connext | Tier 1 | Ubuntu, Windows, and macOS | All Architectures except arm64 |
+--------------------------+------------------------+---------------+----------------------------+--------------------------------+
| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 1 | All Platforms | All Architectures |
+--------------------------+------------------------+---------------+----------------------------+--------------------------------+
| rmw_zenoh_cpp | Eclipse Zenoh | Tier 1 | All Platforms | All Architectures |
+--------------------------+------------------------+---------------+----------------------------+--------------------------------+
| rmw_fastrtps_dynamic_cpp | eProsima Fast-DDS | Tier 2 | All Platforms | All Architectures |
+--------------------------+------------------------+---------------+----------------------------+--------------------------------+
| rmw_gurumdds_cpp | GurumNetworks GurumDDS | Tier 3 | Ubuntu and Windows | All Architectures except arm32 |
+--------------------------+------------------------+---------------+----------------------------+--------------------------------+

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++17
- Python 3.9


Dependency Requirements:

+----------------+---------------------------------+-------------------------------------------------------------------+
| | Required Support | Recommended Support |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Package | Ubuntu Noble | Windows 10** | RHEL 9 | macOS** | Debian Bookworm | OpenEmbedded** |
+================+================+================+==========+===============+==================+=====================+
| CMake | 3.28.3 | 3.28.3 | 3.26.5 | 3.31.1 | 3.25.1 | 3.22.3 |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| EmPY | 3.3.4 | 3.3.4 | 3.3.4a | 3.3.4 |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Gazebo | Ionic* | N/A | N/A | Ionic* | Ionic* | N/A |
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+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| NumPy | 1.26.4 | 1.26.4 | 1.20.1 | 2.1.3 | 1.24.2 | N/A |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Ogre | 1.12.10 | N/A |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| OpenCV | 4.6.0 | 4.9.0 | 4.6.0 | 4.10.0 | 4.6.0 | 4.1.0 / 3.2.0*** |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| OpenSSL | 3.0.13 | 3.3.2 | 3.2.2 | 1.1.1w | 3.0.15 | 1.1.1d / 1.1.1b*** |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Python | 3.12.3 | 3.12.3 | 3.9.19 | 3.13.0 | 3.11.2 | 3.8.2 / 3.7.5*** |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Qt | 5.15.13 | 5.15.8 | 5.15.9 | 5.15.16 | 5.15.8 | 5.14.1 / 5.12.5*** |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| | **Linux only** |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| PCL | 1.14.0 | N/A | 1.12.0 | 1.14.1 | 1.13.0 | 1.10.0 |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| **RMW Middleware** |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Connext DDS | 6.0.1.25 | N/A |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Cyclone DDS | 0.10.5 |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Fast-DDS | 2.14.4 |
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+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Gurum DDS | 4.2.0 | N/A |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+
| Zenoh | 1.0.4 |
+----------------+----------------+----------------+----------+---------------+------------------+---------------------+

" * " 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).

" ** " means that the dependency may see multiple version changes, because the dependency uses a package manager that continually updates the dependency without a stable API.

" \*** " 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, pip
- Windows: pixi/conda, pip
- macOS: Homebrew, pip
- RHEL: dnf
- OpenEmbedded: opkg


Build System Support:

- ament_cmake
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- cargo
- cmake
- setuptools

Rolling Ridley (June 2020 - Ongoing)
------------------------------------

Expand Down Expand Up @@ -1234,6 +1353,8 @@ References and Footnotes
.. [12] Iron ROS 2 Repos File
(https://github.com/ros2/ros2/blob/iron/ros2.repos)
.. [13] Jazzy ROS 2 Repos File
(https://github.com/ros2/ros2/blob/jazzy/ros2.repos)
.. [14] Kilted ROS 2 Repos File
(https://github.com/ros2/ros2/blob/rolling/ros2.repos)

Copyright
Expand Down