Hardware Acceleration WG, meeting #10

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

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:
    1. Welcome and newcomers intro
    2. New reference hardware platform
    3. ROS 2 hardware acceleration stack
      • Yocto enablement (REP 2000)
      • Type adaptation (REP 2007)
      • Hardware acceleration architecture and conventions (REP 2008)
      • Type negotiation (REP 2009)
    4. Guest talk: Víctor Mayoral-Vilches, RobotCore: An Open Architecture for Hardware Acceleration in ROS 2
    5. Q&A
1 Like

Bumping this thread for visibility, meeting happening next week. A short intro to the discussion at The ROS 2 Hardware Acceleration Stack.

135 attendees confirmed so far. Join us!

Final reminder, meeting’s 2022-06-30T15:00:00Z (your browser’s time).

200 attendees signed up for the meeting.

Happy to share with the community the 10th recording of the ROS 2 Hardware Acceleleration Working Group. Great growth, interest and participation.

Slides | Minutes | LinkedIn event

00:00 Welcome
00:29 Intros
05:17 Hardware Acceleration in Robotics Newsletter
06:30 Robotic Processing Unit (RPU)
11:21 New reference hardware platforms
11:40 Kria KR260 Robotics Starter Kit
14:02 Other hardware platform support added
17:52 ROS 2 Hardware Acceleration Stack
23:57 ROBOTCORE, An Open Architecture for Hardware Acceleration in ROS 2
29:51 ROBOTCORE vs ROS default performance
31:39 ROBOTCORE supports ROS and ROS 2
32:43 ROBOTCORE for multi-platform production-grade ROS Yocto support (REP 2000)
34:34 ROBOTCORE for ROS 2 type adaptation (REP 2007)
36:48 ROBOTCORE hardware acceleration architecture and conventions in ROS 2 (REP 2008)
37:51 ROBOTCORE for ROS 2 type negotiation (REP 2009)
40:45 ROBOTCORE Perception
44:46 ROBOTCORE vs NVIDIA Isaac ROS, 3.5x speedup in ROS 2 graph
45:53 ROBOTCORE vs NVIDIA Isaac ROS, 6x performance-per-watt improvement
46:39 ROBOTCORE vs NVIDIA Isaac ROS, 30x speedup in perception Harris filter
47:57 ROBOTCORE vs NVIDIA Isaac ROS, 500x latency improvement in robot perception Node
50:55 Q&A

We’re breaking for summer but stay tuned for the next meeting in September.

This topic was automatically closed 30 days after the last reply. New replies are no longer allowed.