Establishing ROS on Humanoid Soccer Robot-BarelangFC Software System

  • Susanto Susanto Politeknik Negeri Batam
  • Eko Priono Politeknik Negeri Batam
  • Riska Analia Politeknik Negeri Batam
Keywords: humanoid robot soccer, system migration, ROS, real-time application.

Abstract

Humanoid robot is built on several sub-programs or systems which is integrated to each main programs in order to command the robot to move as a soccer player. Each main programs namely as a movement system, a visual sense system (vision), a sub-controller system, and a game strategy. Currently, each of main system constructed using different programming language, for instance: the vision system used python while the others used C and LUA for the movement kinematics. Employing different programming language will affect to response system because each of main system need to be integrated using socket in the beginning process. Robot response will be slow and cost a lot of memory usage. Therefore, in this paper will present a migrating process into robot operating system (ROS) and switch all the robot main system into python language. The integrated program will be examined in real-time application while the robot moved on the field. We used a python ROS in order to make the robot play autonomously on the field.

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Susanto, Junito Suroto, Riska Analia, “ The ROS: Kinetic Kame for Humanoid Robot BarelangFC” , Jurnal Integrasi - April 2021, Vol 13 No 1 (2021), pp. 68-77, DOI: https://doi.org/10.30871/ji.v13i1.2686.

Published
2021-10-29