# Hardware Acceleration WG, meeting #4

**URL:** <https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972>\
**Category:** ROS General\
**Tags:** ros2, hardware, fpga, wg-acceleration, gpu\
**Created:** [November 4, 2021, 9:18am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972 "2021-11-04T09:18:40Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![vmayoral](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vmayoral/32/3665_2.png) [@vmayoral](https://discourse.openrobotics.org/u/vmayoral)\
**Post date:** [November 4, 2021, 9:18am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972/1 "2021-11-04T09:18:40Z")

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Dear ROSers,

After [last week’s meeting](http://discourse.ros.org/t/hardware-acceleration-wg-meeting-3/22535/4) hardware acceleration WG meeting, we’re calling ahead for another one. This time to be held on 2021-11-24T14:00:00Z (your browser’s time). In case you missed past meetings, here’s the list with past recordings: [ROS 2 Hardware Acceleration Working Group](https://www.youtube.com/playlist?list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl) we are keeping.

As for the working group resources, as usual, find them below:

> **ROS 2 Hardware Acceleration Working Group (HAWG) resources**
>
> - `Objective`: Drive creation, maintenance and testing of acceleration kernels on top of open standards (C++ and OpenCL) for optimized ROS 2 and Gazebo interactions over different compute substrates (including FPGAs, GPUs and ASICs).
> - `Reference hardware platform`: [Kria K26 Adaptive SOM](https://www.xilinx.com/products/som/kria.html)
> - `Meeting invite group`: [ROS 2 Hardware Acceleration WG Google Group](https://groups.google.com/g/ros-2-hardware-acceleration-wg)
> - `Instant messaging`: [Matrix community](https://matrix.to/#/+hawg:matrix.org) (Matrix is an open network for secure, decentralized communication).
> - `Backlog management`: [https://github.com/ros-acceleration/community/projects/1](https://github.com/ros-acceleration/community/projects/1)
> - `Github organization`: [ros-acceleration](https://github.com/ros-acceleration)
> - `Meeting minutes`: [HAWG minutes](https://docs.google.com/document/d/185Cy1xjpAOgJygEOnlf5OCgOQTywmF0qgSpS3GiW16Q/edit)
> - `Discourse tag`: [wg-acceleration](http://discourse.ros.org/tag/wg-acceleration)
> - `Previous meetings`:
> - [ROS 2 Hardware Accelerating WG, meeting #1](http://discourse.ros.org/t/announcing-the-hardware-acceleration-wg-meeting-1/20826)
> - [ROS 2 Hardware Acceleration WG, meeting #2](http://discourse.ros.org/t/hardware-acceleration-wg-meeting-2/21789)
> - [ROS 2 Hardware Acceleration WG, meeting #3](http://discourse.ros.org/t/hardware-acceleration-wg-meeting-3/22535)

This month’s meeting will focus on reviewing the progress the group has made recently around various topics including [#9 Testing and benchmarking methodology for acceleration kernels](https://github.com/ros-acceleration/community/issues/9), [#10 Survey the community interests on acceleration for ROS 2 and Gazebo](https://github.com/ros-acceleration/community/issues/10) or [#1 Ultra96-v2: Add a new community support board](https://github.com/ros-acceleration/community/issues/1), among others.

The meeting will be held a bit earlier than usual this time to accomodate another expert in hardware acceleration: [Shaoshan Liu](https://www.linkedin.com/in/shaoshanliu/), PerceptIn’s founder and chairmain. Shaoshan is an experienced roboticist who’s been making scalable hardware/software integrated solutions for autonomous robotics systems for a few years now. In the past, he led the autonomous driving system team as well as the deep learning infrastructure team at Baidu USA. Before that he was with the GPU research team at INRIA and the runtime systems team at Intel Research, among other experiences. He has over 40 publications and over 100 patents in distributed computing as well as autonomous driving systems and of particular interest to us all, he’s behind the [Survey of FPGA-Based Robotic Computing](https://arxiv.org/pdf/2009.06034.pdf). He’ll tell about his view on hardware acceleration for robotics during the last 30 minutes approximately.

The meeting initially scheduled to be 60 minutes. Coordinates for the meeting:

- Time: 2021-11-24T14:00:00Z
- Coordinates: 

> **Zoom**
>
> - Meeting URL: [Zoom URL](https://xilinx.zoom.us/j/96731911933?pwd=VkJPcC8rY09aVms5WTBpcW8ydllBdz09&from=addon)
> - Phone one-tap: Phone one-tap: US: +19292056099,96731911933#,0#,5227359959# or +16699006833,96731911933#,0#,5227359959#
> - Meeting ID: 967 3191 1933
> - Passcode: \*YYK1y@85W
> - Meeting ID: 983 2066 5790
> - Passcode: 1&Cneir?A$

- Preliminary agenda:
  1. Welcome and newcomers intro
  2. Working group progress review
    - [#9 Testing and benchmarking methodology for acceleration kernels](https://github.com/ros-acceleration/community/issues/9)
    - [#10 Survey the community interests on acceleration for ROS 2 and Gazebo](https://github.com/ros-acceleration/community/issues/10)
    - [#1 Ultra96-v2: Add a new community support board](https://github.com/ros-acceleration/community/issues/1)
    - (other topics if time allow for it)

  3. Guest talk: Shaoshan Liu, FPGA-Based Robotic Computing
  4. Q&A

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<div class="post-metadata">

**Author:** ![vmayoral](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vmayoral/32/3665_2.png) [@vmayoral](https://discourse.openrobotics.org/u/vmayoral)\
**Post date:** [November 24, 2021, 6:53am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972/2 "2021-11-24T06:53:03Z")

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Final reminder! Meeting’s in few hours.

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<div class="post-metadata">

**Author:** ![vmayoral](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vmayoral/32/3665_2.png) [@vmayoral](https://discourse.openrobotics.org/u/vmayoral)\
**Post date:** [November 25, 2021, 5:05am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972/3 "2021-11-25T05:05:37Z")

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Recording is out and available here:

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/a/0/a0252e6c0ec4ce94727ef64bac0ab22c2d487031.jpeg "ROS 2 Hardware Acceleration Working Group - meeting #4") ](https://www.youtube.com/watch?v=zHawzTtxuhA)

[0:00](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=0s) Welcome and agenda[  
00:40](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=40s) Newcomer’s intro[  
05:36](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=336s) Working group progress review[  
06:30](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=390s) Testing and benchmarking methodology for acceleration kernels[  
10:45](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=645s) Adaptive ROS 2 Nodes[  
18:00](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=1080s) Survey the community interests on acceleration for ROS 2 and Gazebo[  
23:12](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=1392s) Quick update on Ultra96v2 port[  
24:40](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=1480s) Guest talk: Shaoshan Liu, FPGA-based robotic computing[  
44:29](https://www.youtube.com/watch?v=zHawzTtxuhA&list=PLf4Fnww4KiFeiP1fNQXgJhyuEI760NVIl&index=4&t=2669s) Q&A

[Minutes](https://docs.google.com/document/d/185Cy1xjpAOgJygEOnlf5OCgOQTywmF0qgSpS3GiW16Q/edit#) and [slides of the guest speaker](https://github.com/ros-acceleration/community/blob/master/slides/HAWG4.pdf) have also been made available. Credit and special thanks to Shaoshan for his insightful presentation.

We’re still deciding if we’ll organize a meeting in December or push it instead to January (more likely to be in January due to Christmas holidays).

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<div class="post-metadata">

**Author:** ![vmayoral](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vmayoral/32/3665_2.png) [@vmayoral](https://discourse.openrobotics.org/u/vmayoral)\
**Post date:** [November 25, 2021, 7:21am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972/4 "2021-11-25T07:21:41Z")

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A quick reminder to everyone in the group and to those willing to contribute in the community, please do fill the [Hardware acceleration in ROS 2 and Gazebo survey](https://forms.gle/jBfhRQ7osBTLJgKGA).

More context on the survey at [Hardware acceleration in ROS 2 and Gazebo survey - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/hardware-acceleration-in-ros-2-and-gazebo-survey/23228).

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<div class="post-metadata">

**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [December 25, 2021, 7:22am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-4/22972/5 "2021-12-25T07:22:05Z")

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Closed on December 25, 2021, 7:22am UTC

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