Parallelized Code Generation from Simulink Models for Event-driven and Timer-driven ROS 2 Nodes

TL;DR

This paper introduces a model-based development framework that enables parallelized code generation from Simulink models for ROS 2 nodes, significantly reducing execution time in embedded systems.

Contribution

It presents a novel MBD approach that categorizes ROS 2-compatible Simulink models into event-driven and timer-driven types for targeted parallelization, supporting multi-input scenarios.

Findings

Parallelization reduces execution time across all tested patterns.

Supports multi-input ROS 2 models with parallel code generation.

Extends MBD capabilities for modern ROS 2 frameworks.

Abstract

In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as Robot Operating System (ROS) 2 and multi-core processors. Traditional manual program parallelization faces challenges, including maintaining data integrity and avoiding concurrency issues such as deadlocks. While model-based development (MBD) automates this process, it encounters difficulties with the integration of modern frameworks such as ROS 2 in multi-input scenarios. This paper proposes an MBD framework to overcome these issues, categorizing ROS 2-compatible Simulink models into event-driven and timer-driven types for targeted parallelization. As a result, it extends the conventional parallelization by MBD and supports parallelized code generation for ROS 2-based models with multiple inputs. The evaluation results show that after applying parallelization with the proposed framework, all patterns show a reduction in execution time, confirming the effectiveness of parallelization.