Middleware Selection: Why ROS 1 Was Chosen Over ROS 2

Selecting the appropriate robotic middleware is a critical system-level decision that directly affects compatibility, stability, and development efficiency. During the development of the Mandakini autonomous surface vehicle, ROS 1 was chosen instead of ROS 2 based on practical hardware and software constraints.

This logbook documents the rationale behind this decision.

1. Hardware and Operating System Constraints

The onboard computer used in this system is the NVIDIA Jetson Nano (eMMC version), which introduces several limitations:

• Ubuntu 18.04 (Bionic Beaver) as the base operating system
• Python 3.6 as the default system Python version
• Pre-installed CUDA and NVIDIA JetPack environment

Upgrading the operating system or Python version on the eMMC-based Jetson Nano carries a high risk of:

• CUDA and driver incompatibility
• JetPack dependency conflicts
• Difficult recovery compared to SD card–based systems

For this reason, the system environment was intentionally kept unchanged to maintain stability.

2. ROS 2 Availability on Ubuntu 18.04

While ROS 2 does have limited support on Ubuntu 18.04, the only officially compatible distribution is ROS 2 Eloquent.

However, this option presents a major limitation:

• ROS 2 Eloquent does not provide stable MAVROS support

Since MAVROS is a critical component for integrating:

• Pixhawk flight controller
• GPS, IMU, and waypoint navigation
• Autonomous mission execution

the lack of MAVROS support makes ROS 2 Eloquent unsuitable for this platform.

3. ROS 1 Compatibility and System Stability

In contrast, ROS 1 (Melodic) offers:

• Full compatibility with Ubuntu 18.04
• Stable and mature MAVROS integration
• Proven reliability on Jetson Nano hardware
• Broad community support and tooling

Using ROS 1 allows the system to operate without forced upgrades that could compromise hardware stability or development timelines.

Conclusion

Although ROS 2 provides architectural improvements and long-term benefits, ROS 1 was selected as the most practical and reliable choice for the Mandakini platform.

This decision prioritizes:

• System stability
• Hardware compatibility
• Reliable MAVROS integration
• Reduced risk of CUDA and driver conflicts

As a result, ROS 1 enables consistent autonomous operation within the constraints of the Jetson Nano eMMC-based environment.