Abstract

The Robot Operating System (ROS) is a commonly used framework in many fields of robotics research, with increasing presence in the industry. The next iteration of this framework, ROS2, aims to improve observed shortcomings of its predecessor like deterministic memory allocation and real-time characteristics. The officially supported languages in ROS2 are C++ and Python, although several other contributed APIs for other languages exist. RCLAda is an API and accompanying tools for the ROS2 framework that enable the programming of ROS2 nodes in pure Ada with seamless integration into the ROS2 workflow.

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