Rovers will travel to Northern Premier League Division One South side Frickley Athletic in preparation for the start of the 2018/19 season.
Rovers head to Westfield Lane on Tuesday July 10 for the community friendly, with a 7.30pm kick-off against the Blues.
The two sides last met in July 2015, with Rovers running out 2-0 winners over their hosts thanks to two goals from Nathan Tyson.