IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

Authors Shota Tokunaga, Yuki Horita, Yasuhiro Oda, Takuya Azumi

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Author Details

Shota Tokunaga
  • Graduate School of Engineering Science, Osaka University, Osaka, Japan
Yuki Horita
  • Hitachi, Ltd., Yokohama, Japan
Yasuhiro Oda
  • Hitachi Automotive Systems, Ltd., Hitachinaka, Japan
Takuya Azumi
  • Graduate School of Science and Engineering, Saitama University, Saitama, Japan

Cite AsGet BibTex

Shota Tokunaga, Yuki Horita, Yasuhiro Oda, and Takuya Azumi. IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 3:1-3:9, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)


This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.

Subject Classification

ACM Subject Classification
  • Information systems → Open source software
  • self-driving systems
  • framework
  • robot operating system (ROS)
  • MATLAB/Simulink


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