The Robot Operating System (ROS) is one of the fastest-growing open-source platforms for Robot system development. However, ROS is limited to indoor robot applications. As such, outdoor robot applications such as open-field agriculture, search & rescue, etc., cannot benefit from ROS. This book investigates the reasons behind this and presents a solution. The book first introduces ROS and the role it can play for Agriculture; then, it explains the technical reasons why ROS is limited to indoor applications. It then presents a set of solutions and additions to update ROS and expand its reach to Agriculture automation and other outdoor robot applications.