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perception_2nodes package from acceleration_examples repo

perception_2nodes perception_3nodes accelerated_doublevadd_publisher accelerated_vadd accelerated_vadd_publisher accelerated_vadd_publisher_once doublevadd_publisher faster_doublevadd_publisher faster_triplevadd_publisher image_pipeline_examples image_proc_adaptive multiple_doublevadd_publisher offloaded_doublevadd_publisher publisher_xilinx simple_adder simple_vadd triplevadd_publisher vadd_publisher streaming_k2k_mm_xrt vitis_accelerated_resize vitis_accelerated_stereolbm

ROS Distro
github

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Package Summary

Tags	No category tags.
Version	0.3.0
License	Apache License 2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	ROS 2 package examples demonstrating the use of hardware acceleration.
Checkout URI	https://github.com/ros-acceleration/acceleration_examples.git
VCS Type	git
VCS Version	main
Last Updated	2025-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	fpga gpu hardware-acceleration ros2
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A simple perception computational graph composed by 2 Nodes. Used to demonstrate the value of accelerating image_pipeline computational graphs.

Additional Links

No additional links.

Maintainers

Víctor Mayoral-Vilches

Authors

No additional authors.

graphs/perception/perception_2nodes/README.md

perception_2nodes

A simple perception computational graph composed by 2 Nodes, rectify and resize operations. Used to demonstrate the value of accelerating image_pipeline computational graphs.

Launch files and rationale below, after nomenclature:

integrated¹: “Integrated” components include ROS functionality into a single ROS Component.
streamlined: Streamlined components use separated kernels (at least 2) and a stream interface between them to pass the data from one to the other.

Launch file name	Rationale	Accelerator	Accel. container
`trace_rectify.launch.py`	Simple CPU `RectifyNode` launched in 1 ROS Component container
`trace_rectify.launch.py`	FPGA-offloaded `RectifyNodeFPGA` launched in 1 ROS Component, 1 kernel container	`resize_accel`	`resize_accel`
`trace_resize_fpga.launch.py`	Simple CPU `RectifyNode` launched in 1 ROS Component container
`trace_resize_fpga.launch.py`	FPGA-offloaded `RectifyNodeFPGA` launched in 1 ROS Component, 1 kernel container	`resize_accel`	`resize_accel`

`trace_rectify_resize.launch.py`	CPU pipeline, 2 ROS Components
`trace_rectify_resize_fpga.launch.py`	FPGA-offloaded pipeline, 2 ROS Components, 2 kernels	`resize_accel`, `rectify_accel`	`image_proc`

`trace_rectify_resize_fpga_integrated.launch.py`	FPGA-offloaded pipeline, 1 ROS Component, 1 kernel	`rectify_resize_accel`	`image_proc_integrated`
`trace_rectify_resize_fpga_integrated_node.launch.py`	FPGA-offloaded pipeline, 1 ROS Node, 1 kernel	`rectify_resize_accel`	`image_proc_integrated`
`trace_rectify_resize_fpga_integrated_xrt.launch.py`	FPGA-offloaded pipeline, 1 ROS Component, 1 kernel, with XRT	`rectify_resize_accel`	`image_proc_integrated`

`trace_rectify_resize_fpga_streamlined.launch.py`	FPGA-offloaded pipeline, 2 ROS Components, 2 kernels using stream interfaces. Note: to connect the pipeline, the second function, resize, subscribes also to the raw image topic, but doesn’t use it (fetches data from accelerator)..	`resize_accel_streamlined`, `rectify_accel_streamlined`	`image_proc_streamlined`
`trace_rectify_resize_fpga_streamlined_xrt.launch.py`	FPGA-offloaded pipeline, 2 ROS Components, 2 kernels using stream interfaces, with XRT. Note: to connect the pipeline, the second function, resize, subscribes also to the raw image topic, but doesn’t use it (fetches data from accelerator)..	`resize_accel_streamlined`, `rectify_accel_streamlined`	`image_proc_streamlined`

:x: `trace_rectify_resize_fpga_integrated_streamlined.launch.py`	FPGA-offloaded pipeline, 1 ROS Component, 2 kernels using stream interfaces	`resize_accel_streamlined`, `rectify_accel_streamlined`	`image_proc_streamlined`
`trace_rectify_resize_fpga_integrated_streamlined_xrt.launch.py`	FPGA-offloaded pipeline, 1 ROS Component, 2 kernels using stream interfaces, with XRT	`resize_accel_streamlined`, `rectify_accel_streamlined`	`image_proc_streamlined`

integrated can also be used in the context of accelerators, in which case it refers to various kernels smashed into one single kernel that uses streams between the various functions inside of it. ↩

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257
	image_proc

System Dependencies

Name
python3-pytest

Dependant Packages

Name	Deps
perception_3nodes

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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