Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming an architecture. By leveraging adaptive computing, roboticists can adapt one or more of the properties of its computing systems (e.g. its determinism, power consumption, security posture, or throughput) at run time. Roboticists are not, however, hardware engineers, and embedded expertise is scarce among them. This white paper adopts a ROS 2 roboticist-centric view for adaptive computing and proposes an architecture to include FPGAs as a first-class participant of the ROS 2 ecosystem. The architecture proposed is platform- and technology-agnostic, and is easily portable. The core components of the architecture are disclosed under an Apache 2.0 license, paving the way for roboticists to leverage adaptive computing and create software-defined hardware.
翻译:机器人的传统软件开发涉及具有预设架构和限制的某个机器人的CPU的编程功能。 相反,在适应性计算中,机器人行为的建设涉及一个架构的编程。通过利用适应性计算,机器人学家可以随时调整其计算机系统的一种或多种特性(例如其确定性、电力消耗、安全态势或吞吐量)。机器人学家不是硬件工程师,而嵌入的专门知识也很少。本白皮书对适应性计算采用了ROS 2机器人中心观点,并提出了将FPGAs作为ROS 2生态系统的一流参与者的架构。拟议的架构是平台和技术不可知性,并且易于移动。建筑的核心组成部分在Apache 2.0牌许可证下披露,为机器人学家利用适应性计算和创建软件定义的硬件铺平了道路。