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vmayoralvmayoral
committedJun 28, 2022
KRS 1.0 updates for Ubuntu dev. path and subpaths
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
1 parent aba6dbf commit 339fc25

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‎krs_humble.repos

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@@ -12,6 +12,9 @@ repositories:
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firmware/acceleration_firmware_kv260:
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type: zip
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url: https://drive.google.com/file/d/1gzrGHB-J_fKNBmcGYhClXdWo6wGw8k43
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firmware/acceleration_firmware_kr260:
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type: zip
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url: https://github.com/ros-acceleration/acceleration_firmware_kr260/releases/download/v1.0.0/acceleration_firmware_kr260.zip
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acceleration/adaptive_component:
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type: git

‎sphinx/source/docs/examples/0_ros2_publisher.md

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@@ -32,7 +32,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace

‎sphinx/source/docs/examples/1_hello_xilinx.md

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@@ -22,7 +22,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace

‎sphinx/source/docs/examples/2_hls_ros2.md

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@@ -33,7 +33,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace

‎sphinx/source/docs/examples/3_offloading_ros2_publisher.md

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@@ -100,7 +100,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace to deploy KRS components

‎sphinx/source/docs/examples/4_accelerated_ros2_publisher.md

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@@ -111,7 +111,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace to deploy KRS components

‎sphinx/source/docs/examples/5_faster_ros2_publisher.md

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@@ -101,7 +101,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace to deploy KRS components

‎sphinx/source/docs/examples/6_perception.md

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@@ -31,7 +31,7 @@ $ cd ~/krs_ws # head to your KRS workspace
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# prepare the environment
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$ source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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# build the workspace to deploy KRS components
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# Launch Gazebo simulator in your workstation
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# requires Gazebo installed and GUI-capabilities
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$ cd ~/krs_ws # head to your KRS workspace
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$ source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation
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$ source /opt/ros/humble/setup.bash # Sources system ROS 2 installation
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$ colcon build --merge-install # build the workspace to deploy KRS components
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$ source install/setup.bash # source the workspace as an overlay
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$ ros2 launch perception_2nodes simulation.launch.py
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# Launch the graph in the KV260 CPU (should be connected to the same local network)
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$ source /opt/ros/rolling/setup.bash
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$ source /opt/ros/humble/setup.bash
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$ ros2 launch perception_2nodes trace_rectify_resize.launch.py
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```
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@@ -143,7 +143,7 @@ To launch the perception graph with FPGA offloading using the Vitis Vision Libra
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```bash
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# Launch the graph in the KV260 CPU (should be connected to the same local network as the workstation)
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$ source /opt/ros/rolling/setup.bash # enable ROS 2 overlays
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$ source /opt/ros/humble/setup.bash # enable ROS 2 overlays
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$ ros2 acceleration select image_proc # select and load the accelerator
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$ ros2 launch perception_2nodes trace_rectify_resize_fpga.launch.py # launch Nodes
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```
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```bash
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# integrated
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$ source /opt/ros/rolling/setup.bash # enable ROS 2 overlays
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$ source /opt/ros/humble/setup.bash # enable ROS 2 overlays
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$ ros2 acceleration select image_proc_integrated # select and load the accelerator
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$ ros2 launch perception_2nodes trace_rectify_resize_fpga_integrated.launch.py # launch Nodes
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```
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```bash
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# streamlined
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$ source /opt/ros/rolling/setup.bash # enable ROS 2 overlays
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$ source /opt/ros/humble/setup.bash # enable ROS 2 overlays
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$ ros2 acceleration select image_proc_streamlined # select and load the accelerator
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$ ros2 launch perception_2nodes trace_rectify_resize_fpga_streamlined.launch.py # launch Nodes
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```

‎sphinx/source/docs/install.md

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@@ -44,8 +44,6 @@ Below detail the installation and setup process of each one of the development p
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```
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[![asciicast](https://asciinema.org/a/434953.svg)](https://asciinema.org/a/434953)
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<!--
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###################################################
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# 3. Install KRS packages from the ROS buildfarm
@@ -143,7 +141,7 @@ vcs import src --recursive < krs_humble.repos # about 3 mins in an AMD Ryzen 5
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# 5. build the workspace and deploy firmware for hardware acceleration
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###################################################
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source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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source /opt/ros/rolling/setup.bash # Sources system ROS 2 installation.
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source /opt/ros/humble/setup.bash # Sources system ROS 2 installation.
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# Note: The path above is valid if one installs ROS 2 from a pre-built debian
149147
# packages. If one builds ROS 2 from the source the directory might
@@ -162,4 +160,301 @@ That's pretty much it, you've got now KRS installed in the `krs_ws` ROS overlay
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Now's time to build and run some [examples](https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/0_ros2_publisher.html).
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## Ubuntu 22.04
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## Ubuntu 22.04
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### Cross-compilation development
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Cross-compilation of ROS 2 workspaces allows to build both CPU binaries as well as accelerators thanks to KRS packages. This capabilities is demonstrated below for the KR260 using Ubuntu 22.04 OS:
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```shell
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###################################################
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# 0. install Vitis 2022.1 https://www.xilinx.com/support/download.html
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# and ROS 2 Rolling https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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# we recommend the Desktop-Full flavour (ros-humble-desktop-full)
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###################################################
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###################################################
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# 1. install some dependencies you might be missing
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#
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# NOTE: gcc-multilib conflicts with Yocto/PetaLinux 2022.1 dependencies
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# so you can't have both paths simultaneously enabled in a single
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# development machine
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###################################################
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sudo apt-get -y install curl build-essential libssl-dev git wget \
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ocl-icd-* opencl-headers python3-vcstool \
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python3-colcon-common-extensions python3-colcon-mixin \
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kpartx u-boot-tools pv gcc-multilib
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###################################################
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# 2. create a new ROS 2 workspace with examples and
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# firmware for KV260
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###################################################
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mkdir -p ~/krs_ws/src; cd ~/krs_ws
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###################################################
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# 3. Create file with KRS 1.0 additional repos
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###################################################
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cat << 'EOF' > krs_humble.repos
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repositories:
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perception/image_pipeline:
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type: git
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url: https://github.com/ros-acceleration/image_pipeline
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version: ros2
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tracing/tracetools_acceleration:
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type: git
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url: https://github.com/ros-acceleration/tracetools_acceleration
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version: humble
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firmware/acceleration_firmware_kr260:
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type: zip
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url: https://github.com/ros-acceleration/acceleration_firmware_kr260/releases/download/v1.0.0/acceleration_firmware_kr260.zip
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acceleration/adaptive_component:
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type: git
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url: https://github.com/ros-acceleration/adaptive_component
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version: humble
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acceleration/ament_acceleration:
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type: git
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url: https://github.com/ros-acceleration/ament_acceleration
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version: humble
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acceleration/ament_vitis:
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type: git
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url: https://github.com/ros-acceleration/ament_vitis
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version: humble
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acceleration/colcon-hardware-acceleration:
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type: git
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url: https://github.com/colcon/colcon-hardware-acceleration
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version: main
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acceleration/ros2_kria:
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type: git
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url: https://github.com/ros-acceleration/ros2_kria
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version: main
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acceleration/ros2acceleration:
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type: git
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url: https://github.com/ros-acceleration/ros2acceleration
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version: humble
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acceleration/vitis_common:
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type: git
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url: https://github.com/ros-acceleration/vitis_common
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version: humble
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acceleration/acceleration_examples:
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type: git
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url: https://github.com/ros-acceleration/acceleration_examples
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version: main
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EOF
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###################################################
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# 4. import repos of KRS beta release
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###################################################
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vcs import src --recursive < krs_humble.repos # about 3 mins in an AMD Ryzen 5 PRO 4650G
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###################################################
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# 5. build the workspace and deploy firmware for hardware acceleration
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###################################################
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source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
256+
source /opt/ros/humble/setup.bash # Sources system ROS 2 installation.
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258+
# Note: The path above is valid if one installs ROS 2 from a pre-built debian
259+
# packages. If one builds ROS 2 from the source the directory might
260+
# vary (e.g. ~/ros2_humble/ros2-linux).
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export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
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colcon build --merge-install # about 18 mins in an AMD Ryzen 5 PRO 4650G
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###################################################
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# 6. source the overlay to enable all features
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###################################################
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source install/setup.bash
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###################################################
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# 7.A cross-compile and generate ONLY CPU binaries
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###################################################
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colcon build --build-base=build-kr260-ubuntu --install-base=install-kr260-ubuntu --merge-install --mixin kr260 --cmake-args -DNOKERNELS=true
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###################################################
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# 7.B cross-compile and generate CPU binaries and accelerators
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###################################################
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colcon build --build-base=build-kr260-ubuntu --install-base=install-kr260-ubuntu --merge-install --mixin kr260
279+
```
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Now that we've built binaries and accelerators, next's to run some of them in hardware. See [examples](https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/0_ros2_publisher.html) but **note that Ubuntu 22.04 is targeting KR260 (and thereby the `--mixin kr260` should be used instead)**.
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### Native (on target) development
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```eval_rst
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.. warning:: No accelerators produced with native (on-target) compilation
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**This path is helpful only for creating CPU binaries. It's not possible to create accelerators on target** (from within the KR/KV260 boards) because Vivado and Vitis tools have only x86 support and no aarch support is planned. Refer to the cross-compilation path for jointly creating binaries and accelerators.
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```
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Native CPU compilation (*on target*, in the KR260 or KV260) is pretty straightforward and can be performed by:
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1. Create an SD card with [Ubuntu 22.04 official image for KR260](https://ubuntu.com/download/amd-xilinx)
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2. Install ROS 2 Humble from .deb file inside KR260's Ubuntu 22.04 as indicated at https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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3. `scp` your ROS workspace into the embedded board and build it with colcon as if it was your development machine.
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Now that we've built binaries, next's to run them in hardware. See [examples](https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/0_ros2_publisher.html).
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### QEMU (emulation) development
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```eval_rst
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.. warning:: No accelerators produced with native (on-target) compilation
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306+
**This path is helpful only for creating CPU binaries. It's not possible to create accelerators on QEMU** (from within emulated rootfs') because Vivado and Vitis tools have only x86 support and no aarch support is planned. Refer to the cross-compilation path for jointly creating binaries and accelerators.
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```
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CPU binaries can also be built (and tested) using hardware emulation through QEMU. In particular, the following provides a walkthrough on how to leverage Ubuntu 22.04 pre-built sysroot for KR260 to build the local development workspace:
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```shell
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###################################################
314+
# 0. install Vitis 2022.1 https://www.xilinx.com/support/download.html
315+
# and ROS 2 Rolling https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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# we recommend the Desktop-Full flavour (ros-humble-desktop-full)
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###################################################
318+
319+
###################################################
320+
# 1. install some dependencies you might be missing
321+
#
322+
# NOTE: gcc-multilib conflicts with Yocto/PetaLinux 2022.1 dependencies
323+
# so you can't have both paths simultaneously enabled in a single
324+
# development machine
325+
###################################################
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sudo apt-get -y install curl build-essential libssl-dev git wget \
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ocl-icd-* opencl-headers python3-vcstool \
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python3-colcon-common-extensions python3-colcon-mixin \
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kpartx u-boot-tools pv gcc-multilib
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###################################################
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# 2. create a new ROS 2 workspace with examples and
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# firmware for KV260
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###################################################
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mkdir -p ~/krs_ws/src; cd ~/krs_ws
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###################################################
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# 3. Create file with KRS 1.0 additional repos
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###################################################
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cat << 'EOF' > krs_humble.repos
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repositories:
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perception/image_pipeline:
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type: git
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url: https://github.com/ros-acceleration/image_pipeline
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version: ros2
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tracing/tracetools_acceleration:
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type: git
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url: https://github.com/ros-acceleration/tracetools_acceleration
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version: humble
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firmware/acceleration_firmware_kr260:
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type: zip
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url: https://github.com/ros-acceleration/acceleration_firmware_kr260/releases/download/v1.0.0/acceleration_firmware_kr260.zip
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acceleration/adaptive_component:
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type: git
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url: https://github.com/ros-acceleration/adaptive_component
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version: humble
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acceleration/ament_acceleration:
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type: git
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url: https://github.com/ros-acceleration/ament_acceleration
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version: humble
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acceleration/ament_vitis:
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type: git
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url: https://github.com/ros-acceleration/ament_vitis
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version: humble
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acceleration/colcon-hardware-acceleration:
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type: git
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url: https://github.com/colcon/colcon-hardware-acceleration
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version: main
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acceleration/ros2_kria:
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type: git
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url: https://github.com/ros-acceleration/ros2_kria
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version: main
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acceleration/ros2acceleration:
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type: git
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url: https://github.com/ros-acceleration/ros2acceleration
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version: humble
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acceleration/vitis_common:
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type: git
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url: https://github.com/ros-acceleration/vitis_common
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version: humble
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acceleration/acceleration_examples:
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type: git
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url: https://github.com/ros-acceleration/acceleration_examples
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version: main
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EOF
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###################################################
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# 4. import repos of KRS beta release
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###################################################
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vcs import src --recursive < krs_humble.repos # about 3 mins in an AMD Ryzen 5 PRO 4650G
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###################################################
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# 5. build the workspace and deploy firmware for hardware acceleration
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###################################################
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source /tools/Xilinx/Vitis/2022.1/settings64.sh # source Xilinx tools
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source /opt/ros/humble/setup.bash # Sources system ROS 2 installation.
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# Note: The path above is valid if one installs ROS 2 from a pre-built debian
402+
# packages. If one builds ROS 2 from the source the directory might
403+
# vary (e.g. ~/ros2_humble/ros2-linux).
404+
export PATH="/usr/bin":$PATH # FIXME: adjust path for CMake 3.5+
405+
colcon build --merge-install # about 20 mins in an AMD Ryzen 5 PRO 4650G,
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# mostly spent installing ROS 2 and deps. into
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# the sysroot
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###################################################
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# 6. Enter Ubuntu 22.04 jail while mounting ROS 2 overlay workspace sources for native builds
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#
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# NOTE: assumes to be executed from the root of the ROS 2 overlay workspace
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# (e.g. ~/krs_ws/)
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###################################################
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sudo mount --rbind --make-rslave /dev ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/dev
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mkdir -p ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/ros2_ws/src; sudo mount --bind ~/krs_ws/src ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/ros2_ws/src
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sudo mount -t proc none ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/proc
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sudo mount -t sysfs none ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/sys
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sudo mount -t tmpfs none ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/tmp
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sudo mount -t tmpfs none ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/var/lib/apt
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sudo mount -t tmpfs none ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/var/cache/apt
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sudo mount -t tmpfs none ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/var/cache/apt
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sudo cp /etc/resolv.conf ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/etc/resolv.conf
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# enter chroot
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sudo chroot ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/
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###################################################
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# 7. Build (in emulation) natively CPU binaries
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###################################################
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source /opt/ros/humble/setup.bash # Sources system ROS 2 installation.
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cd /ros2_ws; colcon build --merge-install
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###################################################
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# 8. Run one of the packages
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###################################################
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source /ros2_ws/local_setup.bash
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ros2 run publisher_xilinx member_function_publisher
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###################################################
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# 8. Exit chroot and unmount things
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###################################################
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exit # inside of the emulation
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# back, in your development station
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/proc
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/sys
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/tmp
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/var/lib/apt
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/dev/mqueue
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/dev/hugepages
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/dev/shm
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/dev/pts
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/dev
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/ros2_ws/src
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sudo umount ~/krs_ws/acceleration/firmware/kr260/aarch64-xilinx-linux/var/cache/apt
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```
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Now that we've built binaries, next's to run them in hardware. See [examples](https://xilinx.github.io/KRS/sphinx/build/html/docs/examples/0_ros2_publisher.html).

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