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

2025-12-29

AI Summary

Simulink models for complex embedded systems—such as autonomous driving—face challenges in automatically generating efficient, parallelized ROS 2 node code under multi-input scenarios. Method: This paper proposes a semantics-driven, targeted parallelization approach. It introduces the first classification of ROS 2–compatible Simulink models based on event-driven versus time-driven semantics, integrated with ROS 2 communication modeling, subsystem-level scheduling analysis, and multi-core code mapping techniques. Contribution/Results: The method overcomes a key limitation of traditional Model-Based Development (MBD) in supporting parallelism within ROS 2 multi-input contexts. Experimental evaluation across all test cases demonstrates significant reductions in node execution time, confirming both functional correctness and performance improvement of the generated code in real-world ROS 2 deployments.

Technology Category

• Planning, Routing, and Scheduling: Model-Based Reasoning
• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Search and Optimization: Sampling/Simulation-based Search

Application Category

• Semantics and Knowledge: Methods to enhance, augment, integrate or synergize semantic models such as knowledge graphs and LLMs
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems
• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications

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.

Problem

• Generates parallel code from Simulink models for ROS 2 nodes
• Addresses integration challenges of ROS 2 in multi-input scenarios
• Reduces execution time for event-driven and timer-driven systems

Innovation

• Parallelized code generation from Simulink models
• Categorizes models into event-driven and timer-driven types
• Extends model-based development for ROS 2 integration