The iceoryx maintainers strongly recommend using iceoryx2 for new projects and porting existing ones to iceoryx2. It is the team’s main focus and has already surpassed iceoryx classic in robustness and features.

iceoryx classic	iceoryx2
Continue with iceoryx classic	Continue with iceoryx2
Written in
C++	Rust
Has true zero-copy data transport
yes	yes
Requires a central daemon
yes	no
Messaging pattern
publish-subscribe request-response	publish-subscribe request-response blackboard pipeline (planned)
Notification mechanisms
polling events	polling events
Platforms
Linux Windows macOS FreeBSD QNX (no CI target) FreeRTOS (no CI target)	Linux Windows macOS FreeBSD QNX (no CI target) VxWorks (POC) Android (POC) FreeRTOS (planned) ThreadX (planned) and more
Language bindings
C Rust (partial)	C and C++ C# Python Go (planned) and more
Host-to-Host communication
via DDS tunnel	via Zenoh tunnel
Gateway support
DDS gateway (partial) custom gateways	Zenoh (first iterations as tunnel) DDS (planned) gRPC (planned) custom gateways
Extensibility
hard due to non-modular design	modular design allows custom extension, e.g. GPUs and Hypervisors

Fast	Flexible	Dependable
True zero-copy shared memory communication Message transfers with a latency of less than 1 µs Made to handle GBytes/sec data transfers	Support of various operating systems, communication patterns and APIs Service discovery enables the design of dynamic systems Easy to integrate into frameworks like ROS 2 or AUTOSAR Adaptive	Developed according to modern safety standards Implementation based on static memory and lock-free algorithms Huge C++ library with safe STL implementations

Commercial support
info@ekxide.io	commercial extensions and tooling custom feature development training and consulting integration support engineering services around the iceoryx ecosystem