Closed loop between Simulink and Autoware
Hello,
I am stuck in a problem for a while now, I have created a closed loop between Autoware and Simulink through ROS2. The idea is to analyse the controller node in Autoware. Thats why I am only launching the controller node Controller Node/Orthisnode. This node requires 4 inputs (Trajectory, current position, current acceleration, current steering angle) and one output (controller command). I am publishing these inputs from simulink and subscribing to the output also in simulink.
The controller in Autoware is publishing the output at 32Hz frequency. The problem I am facing is that, controller is not being able to follow the trajectory I am giving from simulink. My guess is the time synchronization problem between Autoware and Simulink. However, I have tried Simulation Pacing option, changed the sample rate of the topics in simulink, also change the fixed step size in Simulink and nothing has been worked.
I am attaching my simulink model and also the ros2 node files where I have changed the message type, hope you can reproduce the results. I thank in advance for any guidance.
Kind regards,
NupurHello,
I am stuck in a problem for a while now, I have created a closed loop between Autoware and Simulink through ROS2. The idea is to analyse the controller node in Autoware. Thats why I am only launching the controller node Controller Node/Orthisnode. This node requires 4 inputs (Trajectory, current position, current acceleration, current steering angle) and one output (controller command). I am publishing these inputs from simulink and subscribing to the output also in simulink.
The controller in Autoware is publishing the output at 32Hz frequency. The problem I am facing is that, controller is not being able to follow the trajectory I am giving from simulink. My guess is the time synchronization problem between Autoware and Simulink. However, I have tried Simulation Pacing option, changed the sample rate of the topics in simulink, also change the fixed step size in Simulink and nothing has been worked.
I am attaching my simulink model and also the ros2 node files where I have changed the message type, hope you can reproduce the results. I thank in advance for any guidance.
Kind regards,
Nupur Hello,
I am stuck in a problem for a while now, I have created a closed loop between Autoware and Simulink through ROS2. The idea is to analyse the controller node in Autoware. Thats why I am only launching the controller node Controller Node/Orthisnode. This node requires 4 inputs (Trajectory, current position, current acceleration, current steering angle) and one output (controller command). I am publishing these inputs from simulink and subscribing to the output also in simulink.
The controller in Autoware is publishing the output at 32Hz frequency. The problem I am facing is that, controller is not being able to follow the trajectory I am giving from simulink. My guess is the time synchronization problem between Autoware and Simulink. However, I have tried Simulation Pacing option, changed the sample rate of the topics in simulink, also change the fixed step size in Simulink and nothing has been worked.
I am attaching my simulink model and also the ros2 node files where I have changed the message type, hope you can reproduce the results. I thank in advance for any guidance.
Kind regards,
Nupur simulink, autoware, simulink pacing, sample rate, subscriber, ros2, publisher MATLAB Answers — New Questions