How to start on boot Simulink model deployed to Raspberry Pi running ROS?

Hey,

Is it possible to start on boot, a simulink model that is to be part of a ROS network, which is deployed to a raspberry pi using the hardware support package for raspberry pi in simulink?

I see that their is an option in the model configuration for Hardware board: Raspberry Pi but not for Raspberry Pi - Robot Operating System as discribed here.

Thank you!

Answer 1

[Murat Belge]

Raspberry Pi - Robot Operating System does not have an option in Simulink to automatically start an executable. However, this can easily be implemented manually. Here are the steps:

1. Build and deploy your Simulink model using Raspberry Pi - Robot Operating System target. This step creates a ROS node under ROS workspace. If the selected workspace name is "~/catkin_ws", the ROS node executable will be located under "~/catkin_ws/devel/lib/<simulink model name>"
2. Create a bash script to automatically start the ROS node on booth. There are various ways to do this but the recommended approach is to use systemd. Here is a guide. In the script, source the ROS setup script, ~/catkin_ws/setup.bash, start roscore and use rosrun command to launch the executable per usual way.