# Hardware Acceleration WG, meeting #6

**URL:** <https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-6/24207>\
**Category:** ROS General\
**Tags:** ros2, hardware, fpga, wg-acceleration, gpu\
**Created:** [February 7, 2022, 6:01am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-6/24207 "2022-02-07T06:01:05Z")\
**Posts on this page:** 1\
**Showing post:** 2

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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:** [February 7, 2022, 6:08am UTC](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-6/24207/2 "2022-02-07T06:08:56Z")

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A couple of additional reminders for those following the WG:

#### Hardware acceleration in ROS 2 and Gazebo survey is still open!👐

The [hardware acceleration survey](http://discourse.ros.org/t/hardware-acceleration-in-ros-2-and-gazebo-survey/23228) for the ROS and Gazebo communities is still open. Data is still coming in. Let us know what are your preferences!

#### Updated list of WG goals for 2022 ⛳

During last meeting we updated the list of goals for the WG.

| Target | Goal |
| --- | --- |
| `2021` | ✅ 1) Design tools and conventions to seamlessly integrate acceleration kernels and related embedded binaries into the ROS 2 computational graphs leveraging its existing build system ([ament\_acceleration](https://github.com/ros-acceleration/ament_acceleration) extensions) \[1\], meta build tools ([colcon-acceleration](https://github.com/ros-acceleration/colcon-acceleration) extension) and a new firmware layer ([acceleration\_firmware](https://github.com/ros-acceleration/acceleration_firmware)) \[2\]. |
| `2021` | ✅ 2) Provide [reference examples](https://github.com/ros-acceleration/acceleration_examples) and blueprints for acceleration architectures used in ROS 2 and Gazebo. |
| `2022` | ✅ 3) Facilitate testing environments that allow to benchmark accelerators with special focus on power consumption and time spent on computations (see [HAWG benchmarking approach](https://github.com/ros-infrastructure/rep/pull/324/files#diff-f230b6aa06d86bf594d8e431300e453ad7343e8f4b1932252b6d36c62a8b5e0aR203-R267), [community#9](https://github.com/ros-acceleration/community/issues/9), [tracetools\_acceleration](https://github.com/ros-acceleration/tracetools_acceleration), [ros2\_kria](https://github.com/ros-acceleration/ros2_kria)) |
| `2022` | ⚠ 4) Survey the community interests on acceleration for ROS 2 and Gazebo (see [discourse announcement](http://discourse.ros.org/t/hardware-acceleration-in-ros-2-and-gazebo-survey/23228), [survey](https://forms.gle/JibETmf92XyUde4r5)). |
| `2022` | ⚠ 5) Produce demonstrators with robot components, real robots and fleets that include acceleration to meet their targets (see [acceleration\_examples](https://github.com/ros-acceleration/acceleration_examples)). |
| `2022` | 🆕 7) Acceleration of complete ROS 2 computational graphs |
| `2022` | 🆕 8) Merge first hardware accelerators (kernels) into upstream packages (_candidate_: [image\_pipeline](https://github.com/ros-acceleration/image_pipeline), see `image_pipeline` instrumented at [#717](https://github.com/ros-perception/image_pipeline/pull/717) ) |
| `2022` | 🆕 9) Documentation and a _“methodology to hardware accelerate a ROS 2 package”_ |
| `2022` | 🆕 10) Organize _workshops on robotics and ROS 2 Hardware Acceleration_ |

Complete details available in the [community repository](https://github.com/ros-acceleration/community) of the Hardware Acceleration WG.

* * *

1. See [ament\_vitis](https://github.com/ros-acceleration/ament_vitis) 

2. See [acceleration\_firmware\_kv260](https://github.com/ros-acceleration/acceleration_firmware_kv260) for an exemplary _vendor extension_ of the `acceleration_firmware` package

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_[View the full topic](https://discourse.openrobotics.org/t/hardware-acceleration-wg-meeting-6/24207)._