University of Hertfordshire

By the same authors

ROS 2 for RoboCup

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

Standard

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 London, 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 proceedingConference contribution

Harvard

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 London, 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

APA

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 London. https://doi.org/10.1007/978-3-030-35699-6_34

Vancouver

Scheunemann MM, van Dijk SG. ROS 2 for RoboCup. In Chalup S, Niemueller T, Suthakorn J, Williams M-A, editors, RoboCup 2019: Robot World Cup XXIII. Springer London. 2019. p. 429-438. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-35699-6_34

Author

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

Bibtex

@inproceedings{2250ff0afcd0478098055e03997b3f3c,
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.}",
year = "2019",
month = dec,
day = "1",
doi = "10.1007/978-3-030-35699-6_34",
language = "English",
isbn = "9783030356989",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer London",
pages = "429--438",
editor = "Stephan Chalup and Tim Niemueller and Jackrit Suthakorn and Mary-Anne Williams",
booktitle = "RoboCup 2019",
address = "United Kingdom",
note = "23rd Annual RoboCup International Symposium, RoboCup 2019 ; Conference date: 02-07-2019 Through 08-07-2019",

}

RIS

TY - GEN

T1 - ROS 2 for RoboCup

AU - Scheunemann, Marcus M.

AU - van Dijk, Sander G.

PY - 2019/12/1

Y1 - 2019/12/1

N2 - 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.

AB - 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.

KW - Autonomous robots

KW - Embedded system

KW - Humanoid robots

KW - Minimal hardware

KW - Open source

KW - Real-time system

KW - Robot framework

KW - Robot software

KW - ROS 2

UR - http://www.scopus.com/inward/record.url?scp=85076913773&partnerID=8YFLogxK

UR - https://arxiv.org/abs/1907.00282

U2 - 10.1007/978-3-030-35699-6_34

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

M3 - Conference contribution

AN - SCOPUS:85076913773

SN - 9783030356989

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 429

EP - 438

BT - RoboCup 2019

A2 - Chalup, Stephan

A2 - Niemueller, Tim

A2 - Suthakorn, Jackrit

A2 - Williams, Mary-Anne

PB - Springer London

T2 - 23rd Annual RoboCup International Symposium, RoboCup 2019

Y2 - 2 July 2019 through 8 July 2019

ER -