ROS-Enabled Hardware Framework for Experimental Robotics
Beck Strohmer, Anders Bøgild, Anders Stengaard Sørensen, Leon Bonde Larsen · 2019
Applying FPGAs and real-time bare-metal code in experimental robots has many benefits but puts high demands on the skills of students and researchers. This contribution presents an interface between FPGA, hard-macro microcontroller cores and the popular middleware ROS implemented on a single chip.