With the recent trends for industrial applications, ROS2 is going to be used as a common "language" alternative, taking advantage of the open architecture controller (OAC) concept. However, the challenges will always be present, considering the contribution from the robot manufacturers (official) or the community (unofficial). Thus, the identification of common challenges using ROS2 to develop applications based on manipulators is important for future or current developments in the area, aiming to simplify the adoption of robotics tools based on open-source initiatives.