A few features and improvements we would like to highlight in this release:
* The Python client library has received a major overhaul. It now supports an execution model and logging API similar to the C++ client library.
* We have resolved many memory leaks and unnecessary memory usage - especially `rclpy` does not "leak like the Titanic anymore" (to quote a closed ticket).
* PrismTech has contributed to the `rmw_opensplice` repository so that we are happy to announce that OpenSplice is supported again: version 6.7 (on Linux and Windows atm).
As the "beta" qualifier suggests, this release of ROS 2 is not complete. However, we consider it to the point now where many things are ready for feedback from a broader audience, hence the label "beta" instead of "alpha". That being said, you should not expect to switch from ROS 1 to ROS 2 right now, nor should you expect to build a complete robot control system with ROS 2. Rather, you should expect to try out some demos, explore the code, participate in online discussions, and perhaps write your own demos.