TY - GEN
T1 - Automated Integration of High-Level Synthesis FPGA Modules with ROS2 Systems
AU - Leal, Daniel Pinheiro
AU - Sugaya, Midori
AU - Amano, Hideharu
AU - Ohkawa, Takeshi
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by JST CREST Grant Number JPMJCR19K1, Japan.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - 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.
AB - 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.
KW - FPGA
KW - Hardware accelerator
KW - PYNQ
KW - ROS
KW - ROS2
UR - http://www.scopus.com/inward/record.url?scp=85105891824&partnerID=8YFLogxK
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U2 - 10.1109/ICFPT51103.2020.00052
DO - 10.1109/ICFPT51103.2020.00052
M3 - Conference contribution
AN - SCOPUS:85105891824
T3 - Proceedings - 2020 International Conference on Field-Programmable Technology, ICFPT 2020
SP - 292
EP - 293
BT - Proceedings - 2020 International Conference on Field-Programmable Technology, ICFPT 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Field-Programmable Technology, ICFPT 2020
Y2 - 7 December 2020 through 8 December 2020
ER -