Kria pre-built ROS perception example app
⚠️ ROS 2 Humble ships with Ignition Gazebo (renamed to “Gazebo”). Installing Gazebo Classic (Gazebo 11.0) is still possible but requires some manual work. Some of the examples below were developed with Gazebo Classic. In turn, examples might be rewritten with Ignition Gazebo (“Gazebo”) to facilitate the flows.
- Install ROS2 using debian package, see install guide here.
- Install few more dependencies from ros-humble using the below command
$ sudo apt install ros-humble-gazebo-ros ros-humble-gazebo-plugins ros-humble-gazebo-msgs python3-colcon-common-extensions
- Install Gazebo Classic 11.0, see install guide here
- Get files to setup and run simulation
$ https://github.com/Xilinx/kria_ros_perception.git
$ cd kria_ros_perception
$ rm -rf src/image_proc src/tracetools_image_pipeline src/vitis_common src/tracing src/image_pipeline_examples
- Install Simulation from the below steps
$ source /opt/ros/humble/setup.bash
$ colcon build
- Run simulation on workstation
$ source install/setup.bash # source the workspace as an overlay
$ ros2 launch perception_2nodes simulation.launch.py
- Follow these instructions to install ros on KRIA kr260
- Install the application debian using the below command. It will install the app along with all the dependencies required for running the the perception node
sudo apt install -y ros-humble-xlnx-ros-perception_0.1.0-0jammy_arm64.deb
⚠️ User is expected to install ROS Humble using the above mentioned link. Otherwise the application may not work
ros2 launch perception_2nodes trace_rectify_resize.launch.py
- This Using AXI4-Stream interface to create an intra-FPGA ROS 2 communication queue which is used to pass data across nodes through the FPGA
xmutil unloadapp
xmutil loadapp image_proc_streamlined
ros2 launch perception_2nodes trace_rectify_resize_fpga_streamlined.launch.py
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