ROS 2 for RoboCup

Marcus M. Scheunemann; Sander G. van Dijk

doi:10.1007/978-3-030-35699-6_34

ROS 2 for RoboCup

Marcus M. Scheunemann, Sander G. van Dijk

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

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 language	English
Title of host publication	RoboCup 2019
Subtitle of host publication	Robot World Cup XXIII
Editors	Stephan Chalup, Tim Niemueller, Jackrit Suthakorn, Mary-Anne Williams
Publisher	Springer Nature Link
Pages	429-438
Number of pages	10
ISBN (Print)	9783030356989
DOIs	https://doi.org/10.1007/978-3-030-35699-6_34
Publication status	Published - 1 Dec 2019
Event	23rd Annual RoboCup International Symposium, RoboCup 2019 - Sydney, Australia Duration: 2 Jul 2019 → 8 Jul 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11531 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	23rd Annual RoboCup International Symposium, RoboCup 2019
Country/Territory	Australia
City	Sydney
Period	2/07/19 → 8/07/19

Keywords

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

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10.1007/978-3-030-35699-6_34

ScheunemannDijk-2019-ROS2_for_RoboCupAccepted author manuscript, 1.83 MB

Cite this

Scheunemann, M. M., & van Dijk, S. G. (2019). ROS 2 for RoboCup. In S. Chalup, T. Niemueller, J. Suthakorn, & M.-A. Williams (Eds.), RoboCup 2019: Robot World Cup XXIII (pp. 429-438). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11531 LNAI). Springer Nature Link. https://doi.org/10.1007/978-3-030-35699-6_34

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title = "ROS 2 for RoboCup",

abstract = "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.",

keywords = "Autonomous robots, Embedded system, Humanoid robots, Minimal hardware, Open source, Real-time system, Robot framework, Robot software, ROS 2",

author = "Scheunemann, {Marcus M.} and {van Dijk}, {Sander G.}",

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doi = "10.1007/978-3-030-35699-6_34",

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editor = "Stephan Chalup and Tim Niemueller and Jackrit Suthakorn and Mary-Anne Williams",

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Scheunemann, MM & van Dijk, SG 2019, ROS 2 for RoboCup. in S Chalup, T Niemueller, J Suthakorn & M-A Williams (eds), RoboCup 2019: Robot World Cup XXIII. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11531 LNAI, Springer Nature Link, pp. 429-438, 23rd Annual RoboCup International Symposium, RoboCup 2019, Sydney, Australia, 2/07/19. https://doi.org/10.1007/978-3-030-35699-6_34

ROS 2 for RoboCup. / Scheunemann, Marcus M.; van Dijk, Sander G.
RoboCup 2019: Robot World Cup XXIII. ed. / Stephan Chalup; Tim Niemueller; Jackrit Suthakorn; Mary-Anne Williams. Springer Nature Link, 2019. p. 429-438 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11531 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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KW - Real-time system

KW - Robot framework

KW - Robot software

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ROS 2 for RoboCup

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Keywords

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