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)
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

  1. Autoware/github.com. URL: http://github.com/CPFL/Autoware.
  2. IDF-Autoware/github.com. URL: https://github.com/T-Shota/IDF-Autoware.
  3. MATLAB/Simulink. URL: http://www.mathworks.com.
  4. Robotics System Toolbox. URL: https://mathworks.com/products/robotics.html.
  5. ROS.org. URL: http://www.ros.org.
  6. ROS.org/rosnode. URL: http://wiki.ros.org/rosnode.
  7. ROS.org/rqt_graph. URL: http://wiki.ros.org/rqt_graph.
  8. wxglade.sourceforge.net. URL: http://wxglade.sourceforge.net.
  9. wxpython.org. URL: http://wxpython.org.
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  13. Y. Saito, T. Azumi, S. Kato, and N. Nishio. Priority and Synchronization Support for ROS. In Proc. of CPSNA, 2016. Google Scholar
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