I’m calling for the sixth Hardware Acceleration Working Group meeting. This time to be held on 2022-02-22T17:00:00Z (your browser’s time). In case you missed past meetings, here’s the ROS 2 Hardware Acceleration Working Group list with past recordings we are keeping. As for the 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
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: https://github.com/ros-acceleration/community/projects/1
Github organization: ros-acceleration
Meeting minutes: HAWG minutes
Discourse tag: wg-acceleration
The meeting will as usual first review the progress of the WG. As a new topic, we’ll be discussing a “Methodology for ROS 2 Hardware Acceleration” that has been tested in various commercial solutions for hardware acceleration (including Xilinx’s and Nvidia’s). The session will also include a guest talk provided by Christian Lienen who is a PhD candidate at Paderborn University. He will tell us about a hardware-accelerated ROS 2 executor. Their novel approach introduces an FPGA-accelerated event-based ROS 2 executor which schedules callbacks of ROS 2 nodes and utilizes a reconfigurable slot model and partial runtime reconfiguration to load hardware-based callbacks on demand. Their executor registers ROS 2 node functions as callbacks and dispatches them to run either in software or in hardware. Join us to learn more!
The meeting initially scheduled to be 60 minutes. Coordinates for the meeting below:
- Time: 2022-02-22T17:00:00Z
- Meeting URL: Zoom URL
- Phone one-tap: US: +16699006833,95945587731#,0#,7966693861# or +17209289299,95945587731#,0#,7966693861#
- Meeting ID: 959 4558 7731
- Passcode: %5Zn?ig8AH
- Preliminary agenda:
- Welcome and newcomers intro
- Working group progress review:
- Guest talk: Christian Lienen, ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications