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Merge first hardware accelerators (kernels) into upstream packages #21

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vmayoral opened this issue Feb 22, 2022 · 1 comment
Open

Merge first hardware accelerators (kernels) into upstream packages #21

vmayoral opened this issue Feb 22, 2022 · 1 comment
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vmayoral commented Feb 22, 2022 •
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Follows from #9 and #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
@vmayoral vmayoral added the enhancement New feature or request label Feb 22, 2022
@vmayoral vmayoral self-assigned this Feb 22, 2022
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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):

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ROS 2 Hardware Acceleration WG backlog
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