This paper presents implementation details and performance metrics for software developed to connect the Robot Operating System (ROS) with Simulink Real-Time (SLRT). The communication takes place through the User Datagram Protocol (UDP) which allows for fast transmission of large amounts of data between the two systems. We use SLRT’s built-in UDP communication and binary packing blocks to send and receive the data over a network. We use implementation metrics from several examples to illustrate the effectiveness and drawbacks of this bridge in a real-time environment. The time latency of the bridge is analyzed by performing loop-back tests and obtaining the statistics of the time delay. A proof of concept experiment is presented that utilizes two laboratories that ran a driver-in-the-loop system despite a large physical separation. This work provides recommendations for implementing data integrity measures as well as the potential to use the system with other applications that demand high speed real-time communication.
- Dynamic Systems and Control Division
A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application
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Wahba, M, Leary, R, Ochoa-Lleras, N, Safi, J, & Brennan, S. "A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application." Proceedings of the ASME 2016 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. Minneapolis, Minnesota, USA. October 12–14, 2016. V002T23A002. ASME. https://doi.org/10.1115/DSCC2016-9693
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