hi Kei,
Last year we did a series of ~6-week Alpha releases, with each release adding new core features. That process culminated with Beta 1 in December. Now we'll be making less frequent Beta releases, with each one adding a combination of new features and new demos. Our next Beta is targeted for this summer, with the evolving feature list (subject to change) coming together here:
https://github.com/ros2/ros2/wiki/Roadmap#beta-2-circa-june-2017
The question of when it's "final" or "done" really depends on what you're looking for. If you need core middleware features like pub/sub, services, and params, then Beta 1 might have what you're looking for. If you need more, then you should keep an eye on the roadmap for when new features are planned to be included. At some point, once we feel that there's enough functionality included, we'll stop using the "Beta" label.
In the meantime, we'd love to have your and others' help! Here's a starting point for new contributors:
https://github.com/ros2/ros2/wiki/Contributing
brian.
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