Automated Integration of High-Level Synthesis FPGA Modules with ROS2 Systems

Daniel Pinheiro Leal, Midori Sugaya, Hideharu Amano, Takeshi Ohkawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Integrating FPGAs to robot systems can be a demanding task. In this paper we present Forest, an open-source tool that automatically generates ROS2 nodes for high-level synthesis-based FPGA modules, greatly facilitating the integration of FPGAs with other robot components. Forest runs on the PYNQ version 2.5 environment with ROS2 Eloquent and can be used with Xilinx SoCs, such as Xilinx Zynq-7000. The ROS2-FPGA node generated by Forest is evaluated in an image processing task, where the FPGA logic performs a linear contrast stretch on images of three different sizes, and an average speed-up of 36.3x and a performance per watt improvement of 432.2x is observed when compared to a ROS2 node running on a modern CPU.

Original languageEnglish
Title of host publicationProceedings - 2020 International Conference on Field-Programmable Technology, ICFPT 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages292-293
Number of pages2
ISBN (Electronic)9780738105185
DOIs
Publication statusPublished - 2020 Dec
Event2020 International Conference on Field-Programmable Technology, ICFPT 2020 - Maui, United States
Duration: 2020 Dec 72020 Dec 8

Publication series

NameProceedings - 2020 International Conference on Field-Programmable Technology, ICFPT 2020

Conference

Conference2020 International Conference on Field-Programmable Technology, ICFPT 2020
Country/TerritoryUnited States
CityMaui
Period20/12/720/12/8

Keywords

  • FPGA
  • Hardware accelerator
  • PYNQ
  • ROS
  • ROS2

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Networks and Communications
  • Hardware and Architecture

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