colcon acceleration hypervisor

by vmayoral 2 years ago

GNU/Linux ◆ xterm-256color ◆ bash 1255 views

The colcon-acceleration ROS 2 package provides an extension for colcon-core (a series of ROS 2 build tools) to include Hardware Acceleration capabilities.

The hypervisor verb helps configure the Xen hypervisor in the raw SD card image produced by the firmware. E.g. colcon acceleration hypervisor --dom0 vanilla --domU vanilla --dom0less preempt_rt will produce a raw image leveraging the Xen hypervisor with 3VMs. The first, dom0, uses a vanilla kernel. The second, domU1, uses a vanilla kernel. The third is a dom0less VM and uses a fully preemtible kernel (preemt_rt). Unless otherwise specified, all VMs use the default ROS 2 configuration, PetaLinux-based rootfs, the LNS and an Ethernet link layer. For more details, check out the ROS 2 Hardware Acceleration Working Group (HAWG) community repository or the introductory paper.

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You can download this recording in asciicast v2 format, as a .cast file.

Download

Replay in terminal

You can replay the downloaded recording in your terminal using the asciinema play command:

asciinema play 443406.cast

If you don't have asciinema CLI installed then see installation instructions.

Use with stand-alone player on your website

Download asciinema player from the releases page (you only need .js and .css file), then use it like this:

<!DOCTYPE html>
<html>
<head>
  <link rel="stylesheet" type="text/css" href="asciinema-player.css" />
</head>
<body>
  <div id="player"></div>
  <script src="asciinema-player.min.js"></script>
  <script>
    AsciinemaPlayer.create(
      '/assets/443406.cast',
      document.getElementById('player'),
      { cols: 198, rows: 53 }
    );
  </script>
</body>
</html>

See asciinema player quick-start guide for full usage instructions.

While this site doesn't offer GIF conversion at the moment, you can still do it yourself with the help of asciinema GIF generator utility - agg.

Once you have it installed run the following command to create GIF file:

agg https://asciinema.org/a/443406 443406.gif

Or, if you already downloaded the recording file:

agg 443406.cast 443406.gif

Check agg --help for all available options. You can change font family and size, select color theme, adjust speed and more.

See agg manual for full usage instructions.