Accelerating ROS 2 Nodes

• 0. ROS 2 publisher
  • vadd_publisher
    • Prepare the environment and fetch the example
    • Inspecting the ROS 2 publisher
    • Building, creating the raw image and running in hardware
    • Bonus: Getting a time intuition of a vadd acceleration kernel
  • doublevadd_publisher
  • Troubleshooting
    • gzip: stdin: unexpected end of file
• 1. Hello Xilinx
  • Launch hello_xilinx example in the workstation
  • Launch hello_xilinx example in the KV260 hardware
  • Launch hello_xilinx example in an emulated KV260
  • Bonus: Launch hello_xilinx example in emulation with another firmware
• 2. HLS in ROS 2
  • Prepare the environment and fetch the example
  • A bit of background on HLS, RTL and FPGAs
  • simple_adder1: a quick look into the flow
    • Using the Vitis HLS GUI
  • simple_adder2: optimizing FPGA synthesis for lower latency responses
• 3. Offloading ROS 2 publisher
  • offloaded_doublevadd_publisher
• 4. Accelerated ROS 2 publisher
  • accelerated_doublevadd_publisher
• 5. Faster ROS 2 publisher
  • accelerated_doublevadd_publisher