Kria Robotics Stack (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. 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.

Dependencies:

• ROS 2 Foxy Fitzroy (install instructions)
• Xilinx Vitis™ 2020.2.2 (install instructions)

Features in alpha release:

1. tight integration of Xilinx's hardware acceleration ecosystem into ROS 2 through ament and colcon extensions.
2. support for KV260 and ZCU102 reference hardware platforms.
3. custom Yocto/PetaLinux root file systems, built from the ROS workspace and easily customizable
4. tooling to seamlessly produce and manage real-time an distributed mixed-critical embedded systems aligned with ROS 2 development flows (see colcon-acceleration verbs)
5. hardware acceleration reference designs (see acceleration_examples), comprehensive tutorials and documentation.
6. Draft of reference architecture and conventions for ROS 2 hardware acceleration (see PR).

To get started, install KRS.