Push publicly testing and benchmarking methodology for acceleration kernels

[vmayoral]

Task list:

• [x] Describe the benchmarking architecture in a formal manner https://github.com/ros-infrastructure/rep/pull/324/files#diff-f230b6aa06d86bf594d8e431300e453ad7343e8f4b1932252b6d36c62a8b5e0aR203-R267
• [x] Create tracepoint examples for hardware acceleration as a fork of tracetools (fork might get integrated into tracetools in the future if appropriate) https://github.com/ros-acceleration/tracetools_acceleration Facilitate testing environments that allow to benchmark accelerators with special focus on power consumption and time.
• [x] Instrument some of the examples at acceleration_examples
  • [x] doublevadd_publisher
  • [x] faster_doublevadd_publisher
• [x] Contributed and disclosed adaptive_component
• [ ] Document it step-by-step in a comprehensive manner (pushed to future documentation tickets)
• [ ] Provide guidelines and recommendations to further instrument computations engaging with FPGAs and GPUs (stretch goal, might be pushed to future tickets)

[vmayoral]

Results from instrumenting acceleration_examples for benchmarking purposes:

• [x] doublevadd_publisher
• [x] faster_doublevadd_publisher

Some resuls while analyzing traces of acceleration_examples:

ros2 launch doublevadd_publisher vadd_analyse.launch.py
[INFO] [launch]: All log files can be found below /home/xilinx/.ros/log/2021-10-25-16-41-58-551903-xilinx-276809
[INFO] [launch]: Default logging verbosity is set to INFO
vadd iteration: 0 → 451.126394 ms
vadd iteration: 1 → 451.058473 ms
vadd iteration: 2 → 451.093805 ms
vadd iteration: 3 → 450.908674 ms
vadd iteration: 4 → 451.054086 ms
vadd iteration: 5 → 451.061446 ms
vadd iteration: 6 → 451.002277 ms
vadd iteration: 7 → 450.974767 ms

ros2 launch faster_doublevadd_publisher vadd_analyse.launch.py
[INFO] [launch]: All log files can be found below /home/xilinx/.ros/log/2021-10-25-16-42-18-406076-xilinx-276811
[INFO] [launch]: Default logging verbosity is set to INFO
vadd iteration: 0 → 88.182015 ms
vadd iteration: 1 → 88.063425 ms
vadd iteration: 2 → 88.067774 ms
vadd iteration: 3 → 88.091864 ms
vadd iteration: 4 → 88.052144 ms
vadd iteration: 5 → 88.015094 ms
vadd iteration: 6 → 88.073275 ms
vadd iteration: 7 → 88.081755 ms
...

[vmayoral]

Disclosed and contributed adaptive_component, a simple composable container for Adaptive ROS 2 Node computations. Select between FPGA, CPU or GPU at run-time.

Examples of using adaptive_component:

• An Adaptive ROS 2 Node
• An Adaptive stateless ROS 2 Component (Node example using it)
• An Adaptive stateful ROS 2 Component (Node example using it)

[vmayoral]

Pushed publicly ros2_kria which examplifies a collection of ROS 2 packages which facilitate the integration of hardware acceleration capabilities for Xilinx's Kria SOM portfolio while aligned with the HAWG benchmarking approach.

[vmayoral]

Benchmarking methodology further discussed at https://github.com/ros-acceleration/community/issues/20#issuecomment-1047570391