colcon acceleration linux

by vmayoral 2 years ago

GNU/Linux ◆ xterm-256color ◆ bash 1665 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 linux verb helps configure the Linux kernel in the raw SD card image produced by the firmware. E.g. colcon acceleration linux vanilla will produce a Linux vanilla kernel, whereas colcon acceleration linux preempt_rt will instead use a pre-built kernel and kernel modules for improved determinism (fully preemptible kernel). 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 434806.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/434806.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/434806 434806.gif

Or, if you already downloaded the recording file:

agg 434806.cast 434806.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.