ROS 2 for RoboCup

Marcus M. Scheunemann, Sander G. van Dijk

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in processing sensory information. The RoboCup@Home league has tackled this by transitioning to ROS as a common framework. In contrast, other leagues, such as those using humanoid robots, are reluctant to use ROS, as in those leagues real-time processing and low-computational complexity is crucial. However, ROS 2 now offers built-in support for real-time processing and promises to be suitable for embedded systems and multi-robot systems. It also offers the possibility to compose a set of nodes needed to run a robot into a single process. This, as we will show, reduces communication overhead and allows to have one single binary, which is pertinent to competitions such as the 3D-Simulation League. Although ROS 2 has not yet been announced to be production ready, we started the process to develop ROS 2 packages for using it with humanoid robots (real and simulated). This paper presents the developed modules, our contributions to ROS 2 core and RoboCup related packages, and most importantly it provides benchmarks that indicate that ROS 2 is a promising candidate for a common framework used among leagues.

Original languageEnglish
Title of host publicationRoboCup 2019
Subtitle of host publicationRobot World Cup XXIII
EditorsStephan Chalup, Tim Niemueller, Jackrit Suthakorn, Mary-Anne Williams
PublisherSpringer Nature
Number of pages10
ISBN (Print)9783030356989
Publication statusPublished - 1 Dec 2019
Event23rd Annual RoboCup International Symposium, RoboCup 2019 - Sydney, Australia
Duration: 2 Jul 20198 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11531 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference23rd Annual RoboCup International Symposium, RoboCup 2019


  • Autonomous robots
  • Embedded system
  • Humanoid robots
  • Minimal hardware
  • Open source
  • Real-time system
  • Robot framework
  • Robot software
  • ROS 2


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