dc.contributor.author | Scheunemann, Marcus M. | |
dc.contributor.author | van Dijk, Sander G. | |
dc.contributor.editor | Chalup, Stephan | |
dc.contributor.editor | Niemueller, Tim | |
dc.contributor.editor | Suthakorn, Jackrit | |
dc.contributor.editor | Williams, Mary-Anne | |
dc.date.accessioned | 2021-04-27T23:13:37Z | |
dc.date.available | 2021-04-27T23:13:37Z | |
dc.date.issued | 2019-12-01 | |
dc.identifier.citation | 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 . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 11531 LNAI , Springer Nature , 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 | |
dc.identifier.citation | conference | |
dc.identifier.isbn | 9783030356989 | |
dc.identifier.issn | 0302-9743 | |
dc.identifier.other | ORCID: /0000-0002-0815-7024/work/93121132 | |
dc.identifier.uri | http://hdl.handle.net/2299/24330 | |
dc.description.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. | en |
dc.format.extent | 10 | |
dc.format.extent | 1918054 | |
dc.language.iso | eng | |
dc.publisher | Springer Nature | |
dc.relation.ispartof | RoboCup 2019 | |
dc.relation.ispartofseries | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | |
dc.subject | Autonomous robots | |
dc.subject | Embedded system | |
dc.subject | Humanoid robots | |
dc.subject | Minimal hardware | |
dc.subject | Open source | |
dc.subject | Real-time system | |
dc.subject | Robot framework | |
dc.subject | Robot software | |
dc.subject | ROS 2 | |
dc.subject | Software | |
dc.subject | Computer Science (miscellaneous) | |
dc.subject | Artificial Intelligence | |
dc.title | ROS 2 for RoboCup | en |
dc.contributor.institution | Department of Computer Science | |
dc.contributor.institution | School of Physics, Engineering & Computer Science | |
dc.contributor.institution | ECS Computer Science VLs | |
dc.identifier.url | http://www.scopus.com/inward/record.url?scp=85076913773&partnerID=8YFLogxK | |
dc.identifier.url | https://arxiv.org/abs/1907.00282 | |
rioxxterms.versionofrecord | 10.1007/978-3-030-35699-6_34 | |
rioxxterms.type | Other | |
herts.preservation.rarelyaccessed | true | |