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Kilted Kaiju (codename 'kilted'; May, 2025)

Table of Contents

Kilted Kaiju is the eleventh release of ROS 2. What follows is highlights of the important changes and features in Kilted Kaiju since the last release.

Supported Platforms

Kilted Kaiju is primarily supported on the following platforms:

Tier 1 platforms:

  • Ubuntu 24.04 (Noble): amd64 and arm64
  • Windows 10 (Visual Studio 2019): amd64

Tier 2 platforms:

  • RHEL 9: amd64

Tier 3 platforms:

  • macOS: amd64
  • Debian Bookworm: amd64

For more information about RMW implementations, compiler / interpreter versions, and system dependency versions see REP 2000.

Installation

TODO

New features in this ROS 2 release

ament_cmake_ros

Add rmw_test_fixture for supporting RMW-isolated testing

Included two new packages which provide an extensible mechanism for creating a test fixture for RMW-based communication isolation. It is modeled closely after the rmw and rmw_implementation API.

The rmw_test_fixture package currently provides only the API, which could be implemented by an RMW provider for configuring their RMW for a test to run.

The rmw_test_fixture_implementation package provides the entry point for discovering, loading, and invoking the appropriate extension.

See ros2/ament_cmake_ros#21 for more details.

common_interfaces

New PoseStampedArray message

Added a pose stamped array message to nav_msgs.

See ros2/common_interfaces#240 for more details.

ros2cli

Action introspection

This allows to instrospect an action with the command line. Using ros2cli tools: ros2 action echo <action name>.

See ros2/ros2cli#978 for more information.

rclcpp

Action generic client

Support action generic client, this is used to support actions in rosbag2.

See ros2/rclcpp#2759 for more details.

rosbag2

Action introspection rosbag2 support

Allow to record and play actions from a rosbag.

See ros2/rosbag2#1955 for more information. Design document ros2/rosbag2#1928.

rosidl_rust

Added rosidl_rust

A Rust idl generator was added to the list of default code generators.

See ros2/ros2#1674 for more details.

ros2

Switch to using Pixi/Conda for Windows

This allows to easily manage dependencies, and to update them in the future. The installation process is significantly simplified. Instead of dozens of steps to install dependencies, it is just a couple of commands. It is much easier to update dependencies. The dependencies are installed in individual workspaces, with no “global” installation.

See ros2/ci#802 and ros2/ros2#1642 for more details. Visit :doc:`Windows source install instructions <../Installation/Alternatives/Windows-Development-Setup>` to install it on Windows.

Support topic instances in DDS topics

Topic instances are a way of multiplexing the transmission of updates of several objects of the same logical kind over the same resource, i.e. the topic.

See ros2/ros2#1538 for more information. You can also check the documentation: https://github.com/ros2/design/pull/340/files.

Changes since the Jazzy release

common_interfaces

Added NV12 to pixel formats

Added NV12 to pixel formats, which is a common output format of hardware-accelerated decoders

See ros2/common_interfaces#253 for more details.

rmw_connextdds_cpp

Version bumped to 7.3

The RTI Connext DDS version was bumped to 7.3.0.

See ros2/ci#811 for more details.

Connextmicro

deprecated Connextmicro

The RTI Connext Micro RMW package, rmw_connextddsmicro, is going to stop receiving updates in Kilted Kaiju, and be removed in a future ROS 2 release.

See ros2/rmw_connextdds#182 for more information.

rosidl_dynamic_typesupport

Removing support for float128

Removed support for float128 because there are inconsistencies in the definition.

See ros2/rosidl_dynamic_typesupport#11 for more details.

rmw_fastrtps_cpp

Renaming package from fastrtps to fastdds

fastrtps was renamed to fastdds. The names of the rmw implementations stay the same. XML Profile ENV strings will change.

See ros2/ros2#1641 for more details.

ament_target_dependencies is deprecated

The CMake macro ament_target_dependencies() has been deprecated in favor of target_link_libraries() with modern CMake targets. The macro still works, but it emits a CMake deprecation warning at build time like this:

CMake Deprecation Warning at [...]/ament_cmake_target_dependencies/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:89 (message):
ament_target_dependencies() is deprecated.  Use target_link_libraries()
with modern CMake targets instead.  Try replacing this call with:

    target_link_libraries([...] PUBLIC
    [...]
    )

Try replacing the ament_target_dependencies() call with the target_link_libraries() call suggested by the warning.

For more information see ament/ament_cmake#572 and ament/ament_cmake#292.

launch

PathJoinSubstitution

PathJoinSubstitution now supports concatenating strings or substitutions into a single path component. For example:

PathJoinSubstitution(['robot_description', 'urdf', [LaunchConfiguration('model'), '.xacro']])

If the model launch configuration was set to my_model, this would result in a path equal to:

'robot_description/urdf/my_model.xacro'

For more information, see ros2/launch#835 and ros2/launch#838.

rmw_zenoh_cpp

Tier 1

The rmw_zenoh_cpp is now considered Tier 1. There are many PRs (summarized in ros2/rmw_zenoh#265) in the ROS 2 core packages, such as:

  • Make the rmw pass all core tests.
  • Implement and document security
  • Make it work in the Tier 1 platforms.
  • Added Quality declarations
  • Added to REP 2005
  • A dedicated nightly CI job
  • Among others

For more information see ros2/rmw_zenoh#265.

Development progress

For progress on the development of Kiltled Kaiju, see this project board.

For the broad process followed by Kilted Kaiju, see the :doc:`process description page <Release-Process>`.

Release Timeline

December, 2024 - Platform decisions
REP 2000 is updated with the target platforms and major dependency versions.
Mon. April 7, 2025 - Alpha + RMW freeze
Preliminary testing and stabilization of ROS Base [1] packages, and API and feature freeze for RMW provider packages.
Mon. April 14, 2025 - Freeze
API and feature freeze for ROS Base [1] packages in Rolling Ridley. Only bug fix releases should be made after this point. New packages can be released independently.
Mon. April 21, 2025 - Branch
Branch from Rolling Ridley. rosdistro is reopened for Rolling PRs for ROS Base [1] packages. Kilted development shifts from ros-rolling-* packages to ros-kilted-* packages.
Mon. April 28, 2025 - Beta
Updated releases of ROS Desktop [2] packages available. Call for general testing.
Thu, May 1, 2025 - Kick off of Tutorial Party
Tutorials hosted at https://github.com/osrf/ros2_test_cases are open for community testing.
Mon. May 12, 2025 - Release Candidate
Release Candidate packages are built. Updated releases of ROS Desktop [2] packages available.
Mon. May 19, 2025 - Distro Freeze
Freeze all Kilted branches on all ROS 2 desktop packages and rosdistro. No pull requests for any kilted branch or targeting kilted/distribution.yaml in rosdistro repo will be merged.
Fri. May 23, 2025 - General Availability
Release announcement. ROS 2 desktop packages source freeze is lifted and rosdistro is reopened for Kilted pull requests.
[1](1, 2, 3) The ros_base variant is described in REP 2001 (ros-base).
[2](1, 2) The desktop variant is described in REP 2001 (desktop-variants).