Last June we held the first HAWG meeting with about 30 participants across organizations who joined us to learn and share experiences on how to create faster ROS 2 applications (again, note HAWG targets initially real-fast, as opposed to real-time) while powered by FPGAs and GPUs. If you couldn’t make it last time, check the recording and the minutes.
Over the last couple of months, our team at Xilinx has been working hard to deliver on the goals we committed back while creating the WG (link). We’ve made huge progress and after reaching what looks like the last steps of internal legal approvals , over the comming weeks, we will be releasing in the HAWG GitHub organization various ROS 2 packages that provide fulfillment on goals #1 and #2. Moreover, following the requests submitted by some of you, we’ve added a new instant messaging chat in Matrix and backlog management using GitHub Projects that I’ll try keeping up to date. A few handy links for those of you following with the progress and/or willing to interact and contribute:
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
Meeting invite group: ROS 2 Hardware Acceleration WG Google Group
Instant messaging: Matrix community (Matrix is an open network for secure, decentralized communication).
Backlog management: Phase 1: tools, examples, benchmarking and first demonstrators · GitHub
Github organization: ros-acceleration
Meeting minutes: HAWG minutes
Discourse tag: wg-acceleration
To review the progress, provide more demonstrations and push the conversation further, I’m happy to . This second meeting will be held the 29th of September where we will review the open architecture for hardware acceleration that Xilinx contributed. Particularly, we will do so by studying step-by-step a simple use case wherein a robotics architect is trying to optimize the computation being performed in a ROS 2 node to publish the result of such computation at 10 Hz. Building upon the examples of the first meeting, we will demonstrate how hardware acceleration in FPGAs allows everyone in this community to build specialized robotic circuitry to empower faster ROS 2 Nodes. In particular, we’ll show step by step how to optimize the computations and create a pipelined dataflow using
colcon_acceleration ROS 2 packages, with only minor changes in the C++ source code and a new entry in the
CMakeLists.txt file to define the new acceleration kernel.
In addition, in this second meeting we will have an extra 30 minute discussion with two special guests: Christian Lienen and Marco Platzner from Paderborn University researching on reconfigurable computing and parallel architectures. They will tell us about their work around ReconROS (latest pre-print article here) which allows to build hardware ROS 2 nodes and integrate hardware acceleration in a variety of different schemes using FPGAs.
The second meeting is thereby scheduled to be 60 minutes at a friendly time in America, late afternoon in Europe and horribly bad time in Asia
.We’ll be rotating friendly-hours between America and Asia if anyone requests us to do so (nobody did so far, but I’m paying attention). Coordinates for the meeting:
- Time: 2021-09-29T18:00:00Z
- Phone one-tap: US: US: +17209289299,94542052613#,0#,0409261674# or +19292056099,94542052613#,0#,0409261674#
- Meeting URL: Zoom URL
- Meeting ID: 945 4205 2613
- Passcode: =.EBjR.1%h
- Preliminary agenda:
- Welcome and newcomers intro
- Recap of ROS 2 Hardware Acceleration WG progress, quick review of objectives and acceleration avenues
- Short discussion of the REP-2008 PR
- Adding new boards to the HAWG architecture progress
- Use case: robotics architect creating an accelerator for a faster ROS 2 publisher
- ReconROS, reconfigurable computing and parallel architectures in ROS 2