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ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications
- Publication Year :
- 2022
- Publisher :
- arXiv, 2022.
-
Abstract
- Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have demonstrated hardware acceleration for the robot operating system (ROS), the dominant programming environment in robotics. ROS is a middleware layer that features the composition of complex robotics applications as a set of nodes that communicate via mechanisms such as publish/subscribe, and distributes them over several compute platforms. In this paper, we present a novel approach for event-based programming of robotics applications that leverages ReconROS, a framework for flexibly mapping ROS 2 nodes to either software or reconfigurable hardware. The ReconROS executor schedules callbacks of ROS 2 nodes and utilizes a reconfigurable slot model and partial runtime reconfiguration to load hardware-based callbacks on demand. We describe the ReconROS executor approach, give design examples, and experimentally evaluate its functionality with examples.
Details
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....1f0c7b775d293da09e5163a804ce1158
- Full Text :
- https://doi.org/10.48550/arxiv.2201.07454