<![CDATA[This study aims is to build a home security system based on object motion detection using the Robot Operating System 2 (ROS2) and the Raspberry Pi. ROS2 in this study was used to read and process the camera data and to control the buzzer sound. At the same time, the Raspberry Pi hardware functioned to run ROS2 using the Linux Ubuntu 18.04 operating system. The camera function to read the image and video data could be developed for the input device to control the home security systems based on object motion detection. The method used to detect an object motion was Binary-Image Comparison (BIC). This method works by comparing the value of the binary image object with the binary master and using it as a decision-making algorithm when the camera detected the object movement based on the object colors. The object colors that were detected in this study were red, yellow, green, and blue. Each object color was processed using the OpenCV library in the ROS2 node service. After that, all of the nodes communicated through topics to communicating and exchanging the message data. This study has successfully developed a prototype that can generate a buzzer sound warning to the user when the camera detected the object motion based on the object color.]]>
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