Hamburg Bit-Bots recently posted an article about the difficulties experienced in transitioning from ROS 1 to ROS 2 in RoboCup Humanoid League
They discuss some of the unresolved issues in ROS 2 that most (if not all) RoboCup teams would face, which makes it worth a read if you’re a team that currently uses ROS 2 or is planning on using ROS 2.
Article: Experiences with ROS 2 on our robots