Establishing ROS on Humanoid Soccer Robot-BarelangFC Software System

Susanto Susanto; Eko Priono; Riska Analia

doi:10.30871/ji.v13i2.3333

Penulis

Susanto Susanto Politeknik Negeri Batam
Eko Priono Politeknik Negeri Batam
Riska Analia Politeknik Negeri Batam

DOI:

https://doi.org/10.30871/ji.v13i2.3333

Kata Kunci:

humanoid robot soccer, system migration, ROS, real-time application.

Abstrak

Robot humanoid dikembangkan dari beberapa sub program atau sistem yang terintegrasi pada setiap program utama untuk memerintahkan robot bergerak selayaknya seperti pemain sepak bola. Masing-masing program utama terdiri atas sistem gerak, sistem indra visual (vision system), sistem sub-kontroler, dan strategi permainan. Saat ini, masing-masing sistem utama didesain menggunakan bahasa pemrograman yang berbeda, misalnya: sistem visi menggunakan python sedangkan yang lain menggunakan C dan LUA untuk kinematika gerakan. Penggunaan bahasa pemrograman yang berbeda akan mempengaruhi respon sistem karena masing-masing sistem utama perlu diintegrasikan menggunakan socket pada proses awal. Respon robot akan lambat dan menghabiskan banyak penggunaan memori. Oleh karena itu, dalam makalah ini akan disajikan proses migrasi ke dalam sistem operasi robot (ROS) dan mengalihkan semua sistem utama robot ke dalam bahasa python. Program terintegrasi akan diperiksa secara real-time aplikasi saat robot bergerak di lapangan. Serta menggunakan python ROS untuk membuat robot dapat bermain secara mandiri di lapangan.

Unduhan

Data unduhan belum tersedia.

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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.