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.


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.


Download data is not yet available.


Y. Kim, S. -y. Lee and S. Lim, "Implementation of PLC controller connected Gazebo-ROS to support IEC 61131-3," 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020, pp. 1195-1198, doi: 10.1109/ETFA46521.2020.9212096.

R. K. Megalingam, A. Rajendraprasad and S. K. Manoharan, "Comparison of Planned Path and Travelled Path Using ROS Navigation Stack," 2020 International Conference for Emerging Technology (INCET), 2020, pp. 1-6, doi: 10.1109/INCET49848.2020.9154132.

S. Rivera, A. K. Iannillo, S. Lagraa, C. Joly and R. State, "ROS-FM: Fast Monitoring for the Robotic Operating System(ROS)," 2020 25th International Conference on Engineering of Complex Computer Systems (ICECCS), 2020, pp. 187-196, doi: 10.1109/ICECCS51672.2020.00029.

Z. Ma, L. Zhu, P. Wang and Y. Zhao, "ROS-Based Multi-Robot System Simulator," 2019 Chinese Automation Congress (CAC), 2019, pp. 4228-4232, doi: 10.1109/CAC48633.2019.8996843.

P. Amontamavut and E. Hayakawa, "ROS Extension of Blue-Sky web based development environment for IoT," 2016 Fifth ICT International Student Project Conference (ICT-ISPC), 2016, pp. 45-48, doi: 10.1109/ICT-ISPC.2016.7519232.

H. Wei, Z. Huang, Q. Yu, M. Liu, Y. Guan and J. Tan, "RGMP-ROS: A real-time ROS architecture of hybrid RTOS and GPOS on multi-core processor," 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 2482-2487, doi: 10.1109/ICRA.2014.6907205.

S. Gatesichapakorn, J. Takamatsu and M. Ruchanurucks, "ROS based Autonomous Mobile Robot Navigation using 2D LiDAR and RGB-D Camera," 2019 First International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP), 2019, pp. 151-154, doi: 10.1109/ICA-SYMP.2019.8645984.

S. Gatesichapakorn, M. Ruchanurucks, P. Bunnun and T. Isshiki, "ROS-Based Mobile Robot Pose Planning for a Good View of an Onboard Camera using Costmap," 2019 10th International Conference of Information and Communication Technology for Embedded Systems (IC-ICTES), 2019, pp. 1-6, doi: 10.1109/ICTEmSys.2019.8695969.

Y. Nitta, S. Tamura, H. Yugen and H. Takase, "ZytleBot: FPGA Integrated Development Platform for ROS Based Autonomous Mobile Robot," 2019 International Conference on Field-Programmable Technology (ICFPT), 2019, pp. 445-448, doi: 10.1109/ICFPT47387.2019.00089.

R. Mishra and A. Javed, "ROS based service robot platform," 2018 4th International Conference on Control, Automation and Robotics (ICCAR), 2018, pp. 55-59, doi: 10.1109/ICCAR.2018.8384644.

Y. Chang, P. Chung and H. Lin, "Deep learning for object identification in ROS-based mobile robots," 2018 IEEE International Conference on Applied System Invention (ICASI), 2018, pp. 66-69, doi: 10.1109/ICASI.2018.8394348

K. Hasegawa, K. Takasaki, M. Nishizawa, R. Ishikawa, K. Kawamura and N. Togawa, "Implementation of a ROS-Based Autonomous Vehicle on an FPGA Board," 2019 International Conference on Field-Programmable Technology (ICFPT), 2019, pp. 457-460, doi: 10.1109/ICFPT47387.2019.00092.

J. Staschulat, I. Lütkebohle and R. Lange, "The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers: work-in-progress," 2020 International Conference on Embedded Software (EMSOFT), 2020, pp. 18-19, doi: 10.1109/EMSOFT51651.2020.9244014.

B. B. Rhoades, D. Srivastava and J. M. Conrad, "Design and Development of a ROS Enabled CAN Based All-Terrain Vehicle Platform," SoutheastCon 2018, 2018, pp. 1-6, doi: 10.1109/SECON.2018.8479285.

B. Mirkhanzadeh et al., "A two-layer network Orchestrator offering trustworthy connectivity to a ROS-industrial application," 2017 19th International Conference on Transparent Optical Networks (ICTON), 2017, pp. 1-4, doi: 10.1109/ICTON.2017.8025148.

M. Cai, Y. Wang, S. Wang, R. Wang and M. Tan, "ROS-Based Depth Control for Hybrid-Driven Underwater Vehicle-Manipulator System," 2019 Chinese Control Conference (CCC), 2019, pp. 4576-4580, doi: 10.23919/ChiCC.2019.8865762.

D. Stojanović, M. Krunić, N. Četić and N. Lukić, "Source code generators for ADAS feature deployment in context of ROS and adaptive AUTOSAR applications," 2019 27th Telecommunications Forum (TELFOR), 2019, pp. 1-4, doi: 10.1109/TELFOR48224.2019.8971074.

N. Goerke, D. Timmermann and I. Baumgart, "Who Controls Your Robot? An Evaluation of ROS Security Mechanisms," 2021 7th International Conference on Automation, Robotics and Applications (ICARA), 2021, pp. 60-66, doi: 10.1109/ICARA51699.2021.9376468.

N. Hammoudeh Garcia, M. Lüdtke, S. Kortik, B. Kahl and M. Bordignon, "Bootstrapping MDE Development from ROS Manual Code - Part 1: Metamodeling," 2019 Third IEEE International Conference on Robotic Computing (IRC), 2019, pp. 329-336, doi: 10.1109/IRC.2019.00060.

H. Hong, Z. Wen, S. Bi, Y. Zhang and W. Yang, "RoverOS: Linking ROS with WebSocket for moblie robot," 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2019, pp. 626-630, doi: 10.1109/CYBER46603.2019.9066498.

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: