Connected to the Challenges of GPU acceleration in ROS, have a look at Proposal for ROS 2 Hardware Acceleration Working Group (HAWG) and our attempt to push forward a common open front of acceleration (including GPU-based) at the ROS level.
We tried and account for the concerns raised and comments by @rgov, @smac, @Alan_Federman and others. Do let us know if we missed something important that needs to be added to the roadmap “early” please.