ros-acceleration
Merge first hardware accelerators (kernels) into upstream packages
Follows from https://github.com/ros-acceleration/community/issues/9 and https://github.com/ros-acceleration/community/issues/20.
Goal of this ticket is to merge upstream acceleration kernels in two forms a) binaries (bitstream) and b) source code, so that users can leverage them directly from their computational graphs in a simplified manner.
Candidate: image_pipeline
Reporting progress on this end, most efforts have concentrated so far in pushing first upstream to the ROS 2 buildfarm the core packages of the ROS 2 hardware acceleration architecture so that other ROS stacks (e.g. image_pipeline) can depend on those for introducing acceleration capabilities:
ROS 2 stack Hardware Acceleration Architecture @ ROS 2 stack
+-------------+ +---------------------------+
| | | acceleration_examples |
| user land | +-------------------+-----------+----------------+--------------------------------+
| | | Drivers | Libraries | Cloud |
+-------------+ +--------------+----+---------+-----------------------------------+---------------+
| | | ament_sol1 | ament_soln | | | |
| | +--------------+--------------+------------------+ accel_fw_sol1 | accel_fw_soln +
| tooling | | ament_acceleration | colcon_acceleration | | |
| | +---------------------------------------------------------------------------------+
| | | build system | meta build | firmware |
+-------------+ +--------------------------+---------------------+--------------------------------+
| rcl | ^ ^ ^
+-------------+ | | |
| rmw | | | |
+-------------+ | | |
| rmw_adapter | Pillar I Pillar II Pillar III
+-------------+
The following tickets track the progress of the release into Rolling (and soon to come, Humble):
- https://github.com/ros-acceleration/tracetools_acceleration/issues/1
- https://github.com/ros-acceleration/ament_acceleration/issues/1
- https://github.com/ros-acceleration/ament_vitis/issues/1
- https://github.com/ros-acceleration/vitis_common/issues/1
- https://github.com/ros-acceleration/ros2acceleration/issues/2
- https://github.com/ros-acceleration/colcon-hardware-acceleration/issues/10