Comments (1)
Contributed to 👍 https://github.com/ros-acceleration/colcon-acceleration and validated with KV260 official reference hardware platform:
Initial list of capabilities:
verb | quick peek | description |
---|---|---|
select |
The select verb allows to easily select and configure a specific target firmware for hardware acceleration, and default to it while producing binaries and accelerators. |
|
list |
The list verb allows to inspect the acceleration firmware available in the ROS workspace, marking with a * the currently selected option. |
|
linux |
The linux verb helps configure the Linux kernel in the raw SD card image produced by the firmware. E.g. colcon acceleration linux vanilla will produce a Linux vanilla kernel, whereas colcon acceleration linux preempt_rt will instead use a pre-built kernel and kernel modules for improved determinism (fully preemptible kernel). |
|
hypervisor |
The hypervisor verb helps configure the Xen hypervisor in the raw SD card image produced by the firmware. E.g. colcon acceleration hypervisor --dom0 vanilla --domU vanilla --dom0less preempt_rt will produce a raw image leveraging Xen with 3 VMs. The first, dom0 , uses a vanilla kernel. The second, domU , uses a vanilla kernel. The third is a dom0less VM and uses a fully preemtible kernel (preemt_rt). Unless otherwise specified, all VMs use the default ROS 2 configuration, PetaLinux-based rootfs, the LNS and an Ethernet link layer. |
|
emulation |
The emulation verb helps manage the emulation capabilities with QEMU open source machine emulator and virtualizer. This way, developers can test their setups and algorithms without the hardware, which facilitates testing and speeds up the development process allowing for CI/CD pipelines. Emulation boots the same SD card image produced by previous commands and including the ROS 2 development workspace, providing a unified development approach. |
|
platform |
The platform verb helps reports Vitis platform enabled in the firmware deployed in the ROS 2 workspace. |
|
mkinitramfs |
The mkinitramfs verb creates compressed cpio initramfs (ramdisks). These can then be used to back up the current rootfs or to create dom0less VMs in Xen easily. |
|
mount / umount |
The mount and umount verbs help mount/umount the raw SD card image produced by previous steps. This way, developers can easily access the embedded rootfs directly, across the various partitions of the raw image (e.g. as in the case of multi-VMs in Xen). |
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Related Issues (20)
- Reference system for hardware acceleration (complete computational graph) HOT 1
- ZC702 board community support HOT 3
- ROS 2 Hardware Acceleration Working Group 2021 dissemination report
- Methodology for ROS 2 Hardware Acceleration HOT 16
- Merge first hardware accelerators (kernels) into upstream packages HOT 1
- Update REP-2008 in alignment with Methodology HOT 1
- Subprojects list HOT 2
- ROS 2 Hardware Acceleration Workshop | ROSCon 2022 HOT 1
- Robotic Processing Unit (RPU) meta-ticket HOT 2
- Taidacent HEX ZYNQ 7020 FPGA: add community support board HOT 4
- Hardware acceleration-enabled production grade OS with ROS 2 Humble using Yocto (Honister)
- Update community's resources and content HOT 1
- Krs_beta and Krs 1.0 RC1: Which toolset to use? HOT 4
- ROS 2 hardware acceleration stack
- Robotics MCU, an open source software and hardware ROS 2 microcontroller unit (MCU) powered by RISC-V HOT 11
- RobotPerf, a reference benchmarking suite that is used to evaluate robotics computing performance HOT 3
- Question HOT 1
- ROS 2 Hardware Acceleration Working Group 2022 dissemination report
- errors when bitbaking ros2 image HOT 1
- Verilog Ethernet Integration Steps HOT 2
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