ReconfROS: Running ROS on Reconfigurable SoCs

Marc Eisoldt, Marcel Flottmann, Julian Gaal, Steffen Hinderink, Juri Vana, Marc Rothmann, Marco Tassemeier, Thomas Wiemann, Mario Porrmann

In: DroneSE-2021: Drone Systems Engineering. Drone Systems Engineering (DroneSE-2021) befindet sich European Network on High-performance Embedded Architecture and Compilation - HiPEAC 2021 January 18 Budapest Hungary ISBN 978-1-4503-8952-5 ACM Digital Library 2021.


In this paper, we present an approach to integrate reconfigurable SoCs into the well known Robot Operating System (ROS). Our method allows to implement hardware-accelerated algorithms on FPGA and integrate them directly into the ROS ecosystem. This allows to combine the established and well tested ROS infrastructure together with low-power hardware acceleration. As a proof of-concept for this novel integration, we ported an existing path-following algorithm onto an FPGA and tested it on an unmanned ground vehicle (UGV).

DroneSE2021.pdf (pdf, 3 MB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence