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ZCU102 firmware. Package for enabling hardware acceleration capabilities in ROS 2 with ZCU102.

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ros-acceleration/acceleration_firmware_zcu102

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acceleration_firmware_zcu102

Board Picture Description
Xilinx Zynq UltraScale+ MPSoC ZCU102 Evaluation Kit (ZCU102) The ZCU102 Evaluation Kit enables designers to jumpstart designs for automotive, industrial, video, and communications applications. This kit features a Zynq® UltraScale+™ MPSoC with a quad-core Arm® Cortex®-A53, dual-core Cortex-R5F real-time processors, and a Mali™-400 MP2 graphics processing unit

This repository provides Xilinx's firmware artifacts for the ZCU102 board meant to accelerate ROS 2 robotic applications.

NOTE: This repository is has various GB of data. Due to GitHub size restrictions, the whole source code is available under releases. Refer to each corresponding's release firmware/ARTIFACTS.md file for a description of all the artifacts included.

Hardware Acceleration capabilities

According to REP-2008's proposal.

Capability KRS alpha1
1. Kernel Levels
1.i level I kernels
1.ii level II kernels ⚠️
1.iii level III kernels
2. Build System
2.i ament extensions
2.ii ament_acceleration support
3. Build Tools
3.i hardware emulation (hw_emu)
3.ii hardware emulation (sw_emu)
3.iii image tooling
3.iv Linux kernel
3.iv.a modern Linux kernel
3.iv.b LTS Linux kernel
3.v hypervisor
3.v.a no control domain VMs
3.v.b guest VMs in disk
3.v.c control domain in disk
3.v.d no control domain VMs in disk
3.vi network booting
3.vi.a boot artifacts
3.vi.b rootfs
3.vi.c multi-network boot
3.vi.d secure network booting
3.vi.e save in disk network boot
4. Benchmarking
4.i kernel benchmarking
4.ii ROS 2 acceleration benchmarking
5. Documentation
5.i in-code documentation
6. Testing and CI
6.i acceleration_examples

Quality Declaration

No quality is claimed according to REP-2004. This package should only be used in workstations to produced valid firmware for the targeted hardware.

Footnotes

  1. Aligns with Vitis 2020.2 release.

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ZCU102 firmware. Package for enabling hardware acceleration capabilities in ROS 2 with ZCU102.

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