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Autonomous driving has become an important research area in recent years, andthe corresponding system creates an enormous demand for computations.Heterogeneous computing platforms such as systems-on-chip that combine CPUswith reprogrammable hardware offer both computational performance andflexibility and are thus interesting targets for autonomous drivingarchitectures. The de-facto software architecture standard in robotics,including autonomous driving systems, is ROS 2. ReconROS is a framework forcreating robotics applications that extends ROS 2 with the possibility ofmapping compute-intense functions to hardware.  This paper presents AutonomROS, an autonomous driving unit based on theReconROS framework. AutonomROS serves as a blueprint for a larger roboticsapplication developed with ReconROS and demonstrates its suitability andextendability. The application integrates the ROS 2 package Navigation 2 withcustom-developed software and hardware-accelerated functions for point cloudgeneration, obstacle detection, and lane detection. In addition, we detail anew communication middleware for shared memory communication between softwareand hardware functions. We evaluate AutonomROS and show the advantage ofhardware acceleration and the new communication middleware for improvingturnaround times, achievable frame rates, and, most importantly, reducing CPUload.

AutonomROS: A ReconROS-based Autonomous Driving Unit