Our team published a white paper further motivating the importance of this topic: Adaptive Computing in Robotics Leveraging ROS 2 to Enable Software-Defined Hardware for FPGAs.
There’s an overview about the different compute substrates available to roboticists and how each one excels at different aspects. This should be a useful introduction for anyone considering how different compute architectures can help improve her/his computational graphs. Moreover, the extensions to the build system (ament) covered in the REP are further explained in the article, feedback and discussion is welcome.