An add-on runtime for ROS 2

Keep the ecosystem.
Change the ceiling.

ROSPlus gives new robotics code a high-performance path while existing ROS 2 nodes continue to run unmodified.

Explore the project See how it works

Add-on layer. Stock ROS 2 stays intact.

rosplus runtime / live topology

supervisor onlinetransport: DDS
Native modevision_pipelineRust · 0 missed
/camera/frame
Legacy modenav2_controllerrclcpp · stock executor
HEARTBEATOK
MESSAGES12.8k/s
SAFETYARMED

Illustrative interface. Values shown are demonstrative.

Architecture

One supervisory layer.
Two ways to run.

ROSPlus manages both paths through a common command surface while nodes communicate over the same transport.

Native mode

The faster lane for new code

Rust nodes run inside the ROSPlus executor with scheduling, shared-memory, and allocation controls designed for deterministic workloads.

turbo run perception --native
Legacy mode

Your existing ROS 2 graph

Standard rclpy and rclcpp nodes run as supervised subprocesses on stock ROS 2. Existing packages require no ROSPlus-specific rewrite.

turbo run nav2 --legacy
DDS by default
Zenoh for fleets
Safety monitor Runtime metrics Unified CLI

Product surface

A more direct way
to build with ROS 2

Progressive disclosure keeps the first run approachable while giving experienced teams access to code, metrics, and configuration.

01

One command surface

The turbo CLI brings build, run, test, deploy, migrate, and benchmark workflows into one tool.

02

Two execution paths

Performance-critical Rust nodes use the native executor. Existing Python and C++ nodes keep stock ROS 2 behavior.

03

Independent safety rail

A separate watchdog process monitors the runtime and supports simulated GPIO during development.

04

Visible system health

Structured logs, Prometheus metrics, node status, and missed-deadline tracking surface runtime behavior.

Project status

A running reference slice,
with honest boundaries.

The repository separates behavior that runs today from native integrations that still require ROS 2, Linux, and robotics hardware validation.

Read the implementation record

Running in the reference slice

  • Isolated workspace lifecycle and secure file access
  • Legacy Python node supervision with structured logs
  • Graph, metrics, status, health, and Prometheus endpoints
  • Heartbeat watchdog with simulated GPIO E-Stop
  • ROS 1 Python publisher and subscriber migration path

Native integration boundary

  • ○Native Rust executor and shared-memory transport
  • ○Measured DDS and Zenoh interoperability
  • ○Physical watchdog and motor relay integration
  • ○Real-time performance certification on target hardware

Engineering targets

The standard
the native path must meet

Targets from the requirements document. These are acceptance criteria for future hardware testing, not published benchmark results.

≤ 100 µsp99 intra-process latencyNative mode · 1 KB messages
1M+messages per secondTarget on i7-class hardware
< 1 mssoft real-time jitterStock Ubuntu under load
< 100 mssafety E-Stop responseHeartbeat failure to power cut

ROSPlus / Carter Warrens

Build on ROS 2.
Run beyond its defaults.

View the repository ceo@carterwarrens.com