ROS Based Multi-Data Sensors Synchronization for Robot Soccer ERSOW

Autonomous robots that have an important role in several sectors in humans life, one of them is RoboCup competition. ERSOW robot soccer from Politeknik Elektronika Negeri Surabaya that participated in the Indonesian Wheeled Robot Soccer Contest, has many abilities such as object detection & image classification, control & navigation system, and the abilities to communicate and set a team strategy. This research focused on ROS Middleware to synchronize all multiple-input data sources into ERSOW robot system. TimeSynchronizer algorithm was used to form a single dataset callback at one time by looking at the timestamp data header from all published topics. With this proposed system, ERSOW robot could make an effective decision system to save the CPU workload. The result showed that out proposed synchronization system using ROS Middleware has a relatively small about 3.9 % and could save the CPU workload up to 4.05 %.