Tags	No category tags.
Version	0.3.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Description	ROS 2 package examples demonstrating the use of hardware acceleration.
Checkout URI	https://github.com/ros-acceleration/acceleration_examples.git
VCS Type	git
VCS Version	main
Last Updated	2024-12-13
Dev Status	UNKNOWN
CI status	No Continuous Integration
Released	UNRELEASED
Tags	fpga gpu hardware-acceleration ros2
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Builds on top of the perception_2nodes package providing a simple perception computational graph composed by 3 Nodes that apply distortion rectification, resizing and corner detection (harris) operations over a raw image dataflow. The computational graph is meant to produce an information flow that's useful to find matching points (corners) between images in the dataflow to extract relevant information from them. Each one of the computational Nodes uses hardware acceleration to speed up its computations and uses an intra-FPGA ROS 2 node communication queue to enable faster data flows, amongst them while avoiding the ROS 2 message/passing infrastructure (rclcpp, rcl, rmw). This is implemented by leveraging AXI4-Stream interfaces and transfers data in a sequential streaming manner directly between acceleration kernels. Any postprocessing operations (e.g. motion tracking) to extract information is beyond the scope of this simple graph and might be implemented in future examples.

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• Víctor Mayoral Vilches

• Víctor Mayoral Vilches