ROS simulink controller is slow

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.

[Jagadeesh Konakalla]

Hi,

The Simulink Simlation may be slower. Can you try the generated code from Simulink model ?

By the way, which version of MATLAB you are using ?

Thanks,

Jagadeesh K.

[Nathaniel Goldfarb]

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]

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

[Nathaniel Goldfarb]

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