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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2020 International Conference on Field-Programmable Technology, ICFPT 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ292-293
ページ数2
ISBN(電子版)9780738105185
DOI
出版ステータスPublished - 2020 12
イベント2020 International Conference on Field-Programmable Technology, ICFPT 2020 - Maui, United States
継続期間: 2020 12 72020 12 8

出版物シリーズ

名前Proceedings - 2020 International Conference on Field-Programmable Technology, ICFPT 2020

Conference

Conference2020 International Conference on Field-Programmable Technology, ICFPT 2020
国/地域United States
CityMaui
Period20/12/720/12/8

ASJC Scopus subject areas

  • 人工知能
  • 計算理論と計算数学
  • コンピュータ ネットワークおよび通信
  • ハードウェアとアーキテクチャ

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