KRIA ROBOTICS STACK (KRS) DOCUMENTATION

Introduction

This repository contains the source code of KRS documentation which gets rendered to sphinx pages. To view complete documentation click on the link below.

KRS Landing Page

About KRS

• Introduction to KRS
  • Kria Robotics Stack (KRS) (this page)
  • Install KRS
  • Hardware supported
• Features
  • ROS 2-centric
  • Real-time ROS 2
  • ROS 2 Accelerated Apps
  • Contributing back to ROS 2
• Examples
  • 0. ROS 2 publisher
  • 1. Hello Xilinx
  • 2. HLS in ROS 2
  • 3. Offloading ROS 2 publisher
  • 4. Accelerated ROS 2 publisher
  • 5. Faster ROS 2 publisher
• Troubleshooting and definitions
  • Troubleshooting
  • Features

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. KRS provides to ROS 2 users an easy and robust path to hardware acceleration. It allow ROS 2 roboticists to create custom secure compute architectures with higher productivity. KRS leverages Xilinx technology targeting the Kria SOM portfolio to deliver low latency (real-fast), determinism (predictable), real-time (on-time), security and high throughput to robotics.

It does so by tightly integrating itself with ROS (lingua franca amongst roboticists) and by leveraging a combination of modern C++ and High-Level Synthesis (HLS), together with reference development boards and design architectures roboticists can use to kick-start their projects. Altogether, KRS supports Kria SOMs with an accelerated path to production in robotics.

:warning: KRS builds on ROS 2. If you're not familiar with it, before continuing, learn more about ROS 2 from its official documentation.

Build documentation and contribute

Install dependencies

python3 -m pip install --upgrade pip

pip3 install rst2pdf==0.99 sphinx==5.1.1 recommonmark==0.7.1 sphinx-markdown-tables==0.0.17 docutils==0.19

Build html locally

cd sphinx; make html