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Xilinx / KRS

The Kria Robotics Stack (KRS) is a ROS 2 superset for industry, an integrated set of robot libraries and utilities to accelerate the development, maintenance and commercialization of industrial-grade robotic solutions while using adaptive computing.
https://Xilinx.github.io/KRS/
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KR260 Perception node: ros2 acceleration list only shows image_proc #66

Open mohammedrafi-sk opened 2 years ago

mohammedrafi-sk commented 2 years ago

I followed the build for perception targeting kr260 as mentioned here

While testing on board, ros2 acceleration list only shows image_proc. 

root@kria:~# ros2 acceleration list
                        Accelerator          Accel_type                            Base           Base_type      #slots(PL+AIE)         Active_slot

accelerated_doublevadd_publisher            XRT_FLATaccelerated_doublevadd_publisher            XRT_FLAT               (0+0)                  -1
                      image_proc            XRT_FLAT                      image_proc            XRT_FLAT               (0+0)                  -1
                k26-starter-kits            XRT_FLAT                k26-starter-kits            XRT_FLAT               (0+0)                   0
  offloaded_doublevadd_publisher            XRT_FLAT  offloaded_doublevadd_publisher            XRT_FLAT               (0+0)                  -1

I can see the streamline and integrated dtbo, bin and xclbin files in the ros2_ws, but ros2 acceleration list is not listing them even after restarting the dfx_mgr

Workaround:

vmayoral commented 2 years ago

This is documented in prior examples, see https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/3_offloading_ros2_publisher.html. It might indeed be worth adding this if to perception tutorial if you bumped into it:

# restart the daemon that manages the acceleration kernels
$ ros2 acceleration stop; ros2 acceleration start
mohammedrafi-sk commented 2 years ago

Hi @vmayoral

I restarted the daemon, But only image_proc appears in the ros2 acceleration list. Even after the board reboot, only image_proc appears in the list.

The only way I could get the image_proc_streamlined and image_proc_integrated is with the workaround mentioned above

vmayoral commented 2 years ago

Restarting the daemon manually is not enough, you need to copy the firmware. That’s what those commands I mentioned above do.

El El lun, 18 jul 2022 a las 9:03, MohammedRafi Shaik < @.***> escribió:

Hi @vmayoral https://github.com/vmayoral

I restarted the daemon, But only image_proc appears in the ros2 acceleration list. Even after the board reboot, only image_proc appears in the list.

The only way I could get the image_proc_streamlined and image_proc_integrated is with the workaround mentioned above

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jasvinderkhurana commented 1 year ago

@mohammedrafi-sk, I hope this issue is resolved by the latest steps shall I close the issue?