OASIcs.ASD.2019.3.pdf
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IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink
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Workshop on Autonomous Systems Design (ASD 2019)
Series: Open Access Series in Informatics (OASIcs)
Conference: Workshop on Autonomous Systems Design (ASD) - License:
Creative Commons Attribution 3.0 Unported license
- Publication Date: 2019-03-28
Cite As Get 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)
https://doi.org/10.4230/OASIcs.ASD.2019.3
Abstract
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
Keywords
- self-driving systems
- framework
- robot operating system (ROS)
- MATLAB/Simulink
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References
- Autoware/github.com. URL: http://github.com/CPFL/Autoware.
- IDF-Autoware/github.com. URL: https://github.com/T-Shota/IDF-Autoware.
- MATLAB/Simulink. URL: http://www.mathworks.com.
- Robotics System Toolbox. URL: https://mathworks.com/products/robotics.html.
- ROS.org. URL: http://www.ros.org.
- ROS.org/rosnode. URL: http://wiki.ros.org/rosnode.
- ROS.org/rqt_graph. URL: http://wiki.ros.org/rqt_graph.
- wxglade.sourceforge.net. URL: http://wxglade.sourceforge.net.
- wxpython.org. URL: http://wxpython.org.
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