TY - GEN
T1 - A ROS-simulink real-time communication bridge using UDP with a driver-in-the-loop application
AU - Wahba, Mohamed
AU - Leary, Robert
AU - Ochoa-Lleras, Nicolás
AU - Safi, Jariullah
AU - Brennan, Sean
N1 - Funding Information:
This work was supported by the Graduate Automotive Technology Education (GATE) initiative's award to the Larson Transportation Institute at The Pennsylvania State University.
Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
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U2 - 10.1115/DSCC2016-9693
DO - 10.1115/DSCC2016-9693
M3 - Conference contribution
AN - SCOPUS:85015670017
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - 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
PB - American Society of Mechanical Engineers
T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Y2 - 12 October 2016 through 14 October 2016
ER -