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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), located at 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).