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We participated in the RoboCup 2018 competition in Montreal with our newlydeveloped BoldBot based on the Darwin-OP and mostly self-printed custom parts.This paper is about the lessons learnt from that competition and furtherdevelopments for the RoboCup 2019 competition. Firstly, we briefly introducethe team along with an overview of past achievements. We then present a simple,standalone 2D simulator we use for simplifying the entry for new members withmaking basic RoboCup concepts quickly accessible. We describe our approach forsemantic-segmentation for our vision used in the 2018 competition, whichreplaced the lookup-table (LUT) implementation we had before. We also discussthe extra structural support we plan to add to the printed parts of the BoldBotand our transition to ROS 2 as our new middleware. Lastly, we will present acollection of open-source contributions of our team.

Bold Hearts Team Description for RoboCup 2019 (Humanoid Kid Size League)