Robot Operating System (ROS) is neither a robot nor an operating system but rather an open source set of tools for quickly creating robotics applications. Now with the advent of ROS 2 enabling real-time, safety critical, and collaborative mobile and industrial robotics is possible. Built upon Data Distribution Service (DDS), ROS 2 and ADLINK OpenSplice DDS provides glue for all components within a robot to communicate, giving open robotics applications the capabilities and performance needed for robots and their components to discover and coordinate with one another.