ROS 2 Multi-Node Communications Via TSN

Overview

• Introduction

Features

• ROS application to demonstrate publisher subscriber communication over Xilinx TSN.

• Realtime demonstration of ongoing TSN traffic (Both best effort and Scheduled) through the oscilloscope.

  • Demonstrate Network Time Synchronization between master and slave

  • Demonstrate software latency for TSN traffic

  • Demonstrate Network Time Shaper Function (802.1Qbv) on TSN traffic

• Demonstrate Modbus based RS485 communication over uart+pmod interface.

Quick Start

• Setting up the Board and Application Deployment

Tutorials

• Linux Boot
• Building the Design Components
• Building the Hardware Design Using Vivado
• Generate Custom Firmware
• Software Build Instructions

Important

Review the FAQ for commonly encountered issues across Kria SOM applications.

Architecture

• Software Architecture - Platform
• Hardware Architecture - Platform

Repository

• Software Repository

Xilinx Support

GitHub issues will be used for tracking requests and bugs. For questions, go to forums.xilinx.com.