论文标题
conconros执行人：FPGA加速ROS 2应用程序的事件驱动的编程
ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications
论文作者
论文摘要
来自机器人域的许多应用程序可以从FPGA加速度中受益。相应的关键问题是如何将硬件加速器集成到以软件为中心的机器人技术编程环境中。最近，几种方法证明了机器人操作系统（ROS）的硬件加速度，即机器人技术中的主要编程环境。 ROS是一个中间件层，它以复杂机器人应用程序的组成为一组节点，这些节点是通过发布/订阅等机制进行通信的一组节点，并在几个计算平台上分配它们。在本文中，我们提出了一种基于事件的机器人应用程序编程的新方法，该应用程序利用了ReconRos，这是一个灵活地将ROS 2节点映射到软件或可重新配置硬件的框架。 ROSS 2节点的ReconRos执行器计划回调，并利用可重构的插槽模型和部分运行时重新配置来按需加载基于硬件的回调。我们描述了Reconros执行者方法，提供设计示例，并通过示例在实验中评估其功能。
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.
