ROS 2 Hardware Acceleration Working Group

ROS 2 Hardware Acceleration Working Group - meeting #8

Source: ROS Discourse, April 27, 2022 [1]

We discuss the group's progress during the last month showing how updates of REP-2008 to reflect cloud extensions, discuss ROS 2 perception Nodes performance using AMD KV260 and NVIDIA Jetson Nano and discuss how benchmarking results hint that FPGAs obtain 500x performance than GPUs.

The session also includes a guest talk provided by Jeffrey Ichnowski from the RISE lab and AUTOLAB at the University of California at Berkeley, which together with his team led “FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2”. This work led to ROS VSLAM (ORB-SLAM2) latency reductions of 50%, grasp planning optimizations going from 14s to 1.2s, and motion planning speedups of 28x.


Hardware Accelerating ROS 2 Nodes for Perception

Source: Hardware Acceleration in Robotics, April 26, 2022 [2]
Robots moving faster require faster perception computations happening at the edge. This article discusses how hardware acceleration empowers faster robots and how it's important to select the right accelerator. Benchmarking results hint speedup differences of more than 500x between acceleration solutions for ROS Nodes.

Implementing Real-Time, Multi-Camera Pipelines with NVIDIA Jetson

Source: NVIDIA Technical Blog, April 21, 2022 [3]
Multi-camera applications are essential for enabling autonomous robots, intelligent video analytics (IVA), and AR/VR. In this post,
Nvidia present jetmulticam, an easy-to-use Python package for creating multi-camera pipelines. Nvidia demonstrate a specific use case on a robot with a surround camera system.

Capitalizing on the Architectural Flexibility of FPGAs with RISC-V and a Simplified Programming Flow

Source: eetimes, April 26, 2022 [4]
Efinix FPGAs offer a high-density device in a small package with low power consumption, and at a low price point. Using 16-nm process technology, they can pack in up to 1 million logic elements and integrated memory blocks in packages as small as 5.5 mm. Efinix's Quantum compute fabric has reconfigurable tiles, or exchangeable logic and routing (XLR) cells. This does away with traditional routing and allows LEs to be smaller and used more flexibly. Efinix FPGAs implement RISC-V CPU architectures without being bound to proprietary IP cores such as ARM.

Arm Unveils New M85 Core and Expands IoT Virtual Hardware Offerings

Source: allaboutcircuits, April 26, 2022 [5]
Six months after its Arm Total Solutions for IoT rollout, today Arm is growing the initiative with a new Cortex-M processor, expanded ecosystem tools, and new virtual hardware—all aimed at IoT.

Innovative Interconnects: The Future of Chiplet-based Processors?

Source: allaboutcircuits, April 18, 2022 [6]
Many of the world's largest chipmakers like AMD, Intel, and NVIDIA are investing in chiplets. But heterogeneous processors are not without their flaws.

Why RISC-V Is Succeeding

Source: Semiconductor Engineering, February 24, 2022 [7]
RISC-V has enabled and promoted innovation. While free may be important to a segment of the industry, the real key is freedom. While additional hardware blocks may be open source, perhaps the most important gain will be the ability to quickly take an open specification for a processor and implement it.

Previous Hardware Acceleration in Robotics Newsletters

Past ROS 2 Hardware Acceleration Working Group meetings

  1. Hardware Acceleration WG, meeting #8. ↩︎

  2. Mayoral, V. (2022, April 26). Hardware accelerating ROS 2 nodes for perception. Hardware Acceleration in Robotics. ↩︎

  3. Lewicki, T. (2022, April 21). Implementing real-time, multi-camera pipelines with NVIDIA Jetson. NVIDIA Technical Blog. ↩︎

  4. Efinix. (2022, April 26). Capitalizing on the Architectural Flexibility of FPGAs with RISC-V and a Simplified Programming Flow. eetimes. ↩︎

  5. Child, J. (2022, April 26). Arm Unveils New M85 Core and Expands IoT Virtual Hardware Offerings. allaboutcircuits. ↩︎

  6. Nijhawan, A. (2022, April 18). Innovative Interconnects: The Future of Chiplet-based Processors? allaboutcircuits. ↩︎

  7. BAILEY, B. (2022, February 24). Why RISC-V is succeeding. Semiconductor Engineering. ↩︎