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IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink Tokunaga, Shota Horita, Yuki Oda, Yasuhiro Azumi, Takuya self-driving systems framework robot operating system (ROS) MATLAB/Simulink 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. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Shota Tokunaga and Yuki Horita and Yasuhiro Oda and Takuya Azumi 2019 Is Part Of OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/OASIcs.ASD.2019.3 urn:nbn:de:0030-drops-103367 https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.3 eng https://creativecommons.org/licenses/by/3.0/legalcode