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DOI: 10.4230/OASIcs.ASD.2019.3

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

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

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

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.

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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)

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@InProceedings{tokunaga_et_al:OASIcs.ASD.2019.3,
  author =	{Tokunaga, Shota and Horita, Yuki and Oda, Yasuhiro and Azumi, Takuya},
  title =	{{IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{3:1--3:9},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.3},
  URN =		{urn:nbn:de:0030-drops-103367},
  doi =		{10.4230/OASIcs.ASD.2019.3},
  annote =	{Keywords: self-driving systems, framework, robot operating system (ROS), MATLAB/Simulink}
}

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

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