Hey ROSsers,
I’m calling for the tenth Hardware Acceleration Working Group meeting to be held on 2022-06-30T15:00:00Z (your browser’s time). In case you missed past meetings, here’s the ROS 2 Hardware Acceleration Working Group list with past recordings the WG is keeping. As for other working group resources, find them below:
ROS 2 Hardware Acceleration Working Group (HAWG) resources
-
Objective: Drive creation, maintenance and testing of acceleration kernels on top of open standards (C++ and OpenCL) for optimized ROS 2 and Gazebo interactions over different compute substrates (including FPGAs, GPUs and ASICs). -
Reference hardware platform: Kria K26 Adaptive SOM -
Meetings invite group: ROS 2 Hardware Acceleration WG Google Group -
Instant messaging: Matrix community (Matrix is an open network for secure, decentralized communication). -
Backlog management: DEPRECATED (use official backlog): Phase 1: tools, examples, benchmarking and first demonstrators · GitHub -
Github organization: ros-acceleration -
Meeting minutes: HAWG minutes -
Discourse tag: wg-acceleration -
Previous meetings:- ROS 2 Hardware Accelerating WG, meeting #1
- ROS 2 Hardware Acceleration WG, meeting #2
- ROS 2 Hardware Acceleration WG, meeting #3
- ROS 2 Hardware Acceleration WG, meeting #4
- ROS 2 Hardware Acceleration WG, meeting #5
- ROS 2 Hardware Acceleration WG, meeting #6
- ROS 2 Hardware Acceleration WG, meeting #7
- ROS 2 Hardware Acceleration WG, meeting #8
- ROS 2 Hardware Acceleration WG, meeting #9
This meeting will be last one this season before the summer break (we’ll re-engage in September again) so we’ve prepared a packed agenda with exciting topics and a complete review of the hardware acceleration capabilities in ROS 2 (Humble), so that all can play around over the summer and try out what’s been accomplished so far. In particular, plan of record is to discuss on a) new reference hardware platform and b) ROS 2 hardware acceleration stack, touching in detail on various of the blueprints that have been contributed including Yocto enablement (REP 2000), type adaptation (REP 2007), hardware acceleration architecture and conventions (REP 2008) and type negotiation (REP 2009).
In addition to the usual meeting, for the last 30 minutes, I’m excited to share I’ll be presenting research produced in collaboration with researchers from Harvard University on systems architecture and ROS: “RobotCore: An Open Architecture for Hardware Acceleration in ROS 2” (paper). Shortly, RobotCore is a hardware acceleration framework for ROS and ROS 2 that helps build custom compute architectures for robots, or robot cores, which make robots faster, more deterministic and power-efficient. Simply put, it provides a development, build and deployment experience for creating robot hardware and hardware accelerators similar to the standard, non-accelerated ROS development flow.
The meeting is initially scheduled to be 60 minutes. Coordinates for the meeting below:
- Time: 2022-06-30T15:00:00Z
- Coordinates: https://meet.google.com/vbc-hpua-ncg
- Preliminary agenda:
- Welcome and newcomers intro
- New reference hardware platform
- ROS 2 hardware acceleration stack
- Yocto enablement (REP 2000)
- Type adaptation (REP 2007)
- Hardware acceleration architecture and conventions (REP 2008)
- Type negotiation (REP 2009)
- Guest talk: Víctor Mayoral-Vilches, RobotCore: An Open Architecture for Hardware Acceleration in ROS 2
- Q&A