Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming an architecture. By leveraging adaptive computing, roboticists can adapt one or more of the properties of its computing systems (e.g. its determinism, power consumption, security posture, or throughput) at run time. Roboticists are not, however, hardware engineers, and embedded expertise is scarce among them. This white paper adopts a ROS 2 roboticist-centric view for adaptive computing and proposes an architecture to include FPGAs as a first-class participant of the ROS 2 ecosystem. The architecture proposed is platform- and technology-agnostic, and is easily portable. The core components of the architecture are disclosed under an Apache 2.0 license, paving the way for roboticists to leverage adaptive computing and create software-defined hardware.

中文翻译：

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机器人技术中的自适应计算，利用 ROS 2 为 FPGA 启用软件定义的硬件

机器人技术中的传统软件开发是关于具有预定义架构和约束的给定机器人的 CPU 中的编程功能。相反，使用自适应计算，构建机器人行为就是对架构进行编程。通过利用自适应计算，机器人专家可以在运行时调整其计算系统的一个或多个属性（例如其确定性、功耗、安全状态或吞吐量）。然而，机器人专家不是硬件工程师，而且他们中缺乏嵌入式专业知识。本白皮书采用以 ROS 2 机器人专家为中心的自适应计算观点，并提出了一种架构，将 FPGA 作为 ROS 2 生态系统的一流参与者。所提出的架构与平台和技术无关，并且易于移植。