Hi everyone,
I have been a silent observer here since 2019, and this is my first post on Discourse. I hope you will excuse the sudden intrusion 
I am pleased to share that our survey paper, “ROS 2 in a Nutshell: A Survey,” has been published in ACM Computing Surveys .
Paper DOI: https://doi.org/10.1145/3815113
ACM Computing Surveys is recognized with an Impact Factor of 28.0 and is ranked #1 out of 147 journals in Computer Science, Theory & Methods .
The goal of this survey is to provide a broad and systematic overview of the ROS 2 ecosystem. In particular, the paper covers:
- the evolution of ROS 2
- the motivations behind ROS 2 and its architectural redesign
- middleware and RMW evolution
- a taxonomy of ROS 2 literature and research directions
- frameworks, simulators, community packages, and the broader ROS 2 software ecosystem
The paper is organized around three main research questions:
- How does ROS 2 improve upon ROS 1, and what new limitations arise?
- What advances address redesign challenges and enable deployment?
- Which frameworks and tools shape the ROS 2 ecosystem, and where are the remaining gaps?
A major outcome of the work is an open-access companion database that organizes ROS-related literature, tools, and ecosystem resources:
ROS 2 survey database: ROS 2 in a Nutshell: A Survey
We also welcome community contributions to improve and extend the database:
Contribution guide: awesome-ros/CONTRIBUTING.md at main · asmbatati/awesome-ros · GitHub
This work was carried out by:
We would also like to express our appreciation to:
for their valuable support.
We are also grateful for the support of:
- RIOTU Lab
- Research and Initiatives Center (RIC)
- AlfaisalX Center at Alfaisal University
I hope the survey and the companion database will be useful to researchers, developers, and students working with ROS 2. 
Feedback, corrections, and suggestions for additions to the database are very welcome.