KR260 Perception node: ros2 acceleration list only shows image_proc

[mohammedrafi-sk]

I followed the build for perception targeting kr260 as mentioned here

While testing on board, ros2 acceleration list only shows image_proc.

root@kria:~# ros2 acceleration list
                        Accelerator          Accel_type                            Base           Base_type      #slots(PL+AIE)         Active_slot

accelerated_doublevadd_publisher            XRT_FLATaccelerated_doublevadd_publisher            XRT_FLAT               (0+0)                  -1
                      image_proc            XRT_FLAT                      image_proc            XRT_FLAT               (0+0)                  -1
                k26-starter-kits            XRT_FLAT                k26-starter-kits            XRT_FLAT               (0+0)                   0
  offloaded_doublevadd_publisher            XRT_FLAT  offloaded_doublevadd_publisher            XRT_FLAT               (0+0)                  -1

I can see the streamline and integrated dtbo, bin and xclbin files in the ros2_ws, but ros2 acceleration list is not listing them even after restarting the dfx_mgr

Workaround:

• Create folders image_proc_streamlined and image_proc_integrated in the /lib/firmware/xilinx
• Copy the dtbo, bin and xclbin files into the respective folders
• Restart dfx_mgr, Now ros2 acceleration list shows all the accelerators

[vmayoral]

This is documented in prior examples, see https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/3_offloading_ros2_publisher.html. It might indeed be worth adding this if to perception tutorial if you bumped into it:

# restart the daemon that manages the acceleration kernels
$ ros2 acceleration stop; ros2 acceleration start

[mohammedrafi-sk]

Hi @vmayoral

I restarted the daemon, But only image_proc appears in the ros2 acceleration list. Even after the board reboot, only image_proc appears in the list.

The only way I could get the image_proc_streamlined and image_proc_integrated is with the workaround mentioned above

[vmayoral]

Restarting the daemon manually is not enough, you need to copy the firmware. That’s what those commands I mentioned above do.

El El lun, 18 jul 2022 a las 9:03, MohammedRafi Shaik < @.***> escribió:

Hi @vmayoral https://github.com/vmayoral

I restarted the daemon, But only image_proc appears in the ros2 acceleration list. Even after the board reboot, only image_proc appears in the list.

The only way I could get the image_proc_streamlined and image_proc_integrated is with the workaround mentioned above

— Reply to this email directly, view it on GitHub https://github.com/Xilinx/KRS/issues/66#issuecomment-1186837733, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAKPYDRJWQ7IUVRXUBZSWC3VUT6VXANCNFSM53K26IBQ . You are receiving this because you were mentioned.Message ID: @.***>

[jasvinderkhurana]

@mohammedrafi-sk, I hope this issue is resolved by the latest steps shall I close the issue?