robotology / wb-toolbox

Simulink toolbox to rapidly prototype robot controllers
https://robotology.github.io/wb-toolbox/
GNU Lesser General Public License v2.1
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Automatic Code Generation support exploiting Simulink Coder #82

Closed diegoferigo closed 6 years ago

diegoferigo commented 6 years ago

At the current state, WB-Toolbox provides an excellent tool for rapid-prototyping. Adding a new feature of changing a parameter are trivial operations since they are done in Simulink.

However, for controlling the robot this workflow requires the presence of a computer in the robot's network that streams the motor references.

We are currently experimenting the usage of Simulink Coder for removing Simulink from the loop for the runtime usage. What we envision is the following:

This workflow would also remove all the latency due to the network transport.

Considering that Simulink executes the model in a single-thread, and iCub's head is a PREEMPT_RT-enabled x86 distribution, this might work without many low-level complications.

diegoferigo commented 6 years ago

This milestone collects all the issues opened for adding support for Automatic Code Generation.

diegoferigo commented 6 years ago

PR https://github.com/robotology/wb-toolbox/pull/77 closes this issue.