ROS simulink controller is slow

4 次查看（过去 30 天）
Nathaniel Goldfarb
Nathaniel Goldfarb 2021-5-28
移动：Jagadeesh Konakalla 2024-4-23
I am trying to build a controller in simulink to interact with ROS and custom simulation of my robot. The controller is rather complex, and involves communication with several topics.
When I try to publish the setpoints to the controller the controller runs very slowly to the point it cannot be used. Is there a way I can speed up the controller to make it run in real time? Should I be exported the code to C++ then tuning my model parameters from there? I know that this is very vague question, I apperate any help.
  3 个评论
显示 1更早的评论
Nathaniel Goldfarb
Nathaniel Goldfarb 2021-5-29
I am using 2021a. I working on building the code now. working through some errors.
how much does the location of the message generation matter? I read around and it is there seems to be a performance increase by moving the static message generation outside the look.
Jagadeesh Konakalla
Jagadeesh Konakalla 2021-6-4
Hi,
Let me elaborate on my suggestion.
My understanding is that you are trying to publish messages from Simulink model in Simulation. This is because of necessary message conversions from Simulink but to MATLAB structure to ROS message.
Instead, i am suggesting you to try the code generation workflow. You can build and deploy code from simulink model and run the generated node in the ROS environment where your controller is running. This workflow is faster than the simulation workflow.
Let me know if this helps.
Jagadeesh K

请先登录，再进行评论。

请先登录，再回答此问题。

回答（1 个）

Nathaniel Goldfarb
移动：Jagadeesh Konakalla 2024-4-23
yes, I am trying to do that now. I am having a problem building and running the model. There is an issue with a custom ROS message. I am in a discussion here

类别

在 Help Center 和 File Exchange 中查找有关 ROS Network Access in Simulink 的更多信息

标签

产品


版本

R2021a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by