ros-acceleration/acceleration_examples

ROS 2 package examples demonstrating the use of hardware acceleration.

acceleration_examples's Issues

Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized

After launching rectify_resize_fpga_streamlined application using below command, duplicate node has been observed on KR260. This seems to be breaking the functionality of the app
We observed only a 4-5 frames during 5 minutes of testing and most of the time there is no message published on /resize topic,.

ros2 launch perception_2nodes trace_rectify_resize_fpga_streamlined.launch.py

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-27-18-31-27-439445-kria-3015
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tracetools_launch.action]: Writing tracing session to: /root/.ros/tracing/trace_rectify_resize_fpga_streamlined
[INFO] [rectify_resize_fpga_streamlined_node-1]: process started with pid [3028]
[rectify_resize_fpga_streamlined_node-1] [WARN] [1656354692.192969458] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rectify_resize_fpga_streamlined_node-1] [WARN] [1656354705.248085520] [rectify_resize_fpga_streamlined_node]: [image_transport] Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized. In the last 10s:
[rectify_resize_fpga_streamlined_node-1] 	Image messages received:      3
[rectify_resize_fpga_streamlined_node-1] 	CameraInfo messages received: 0
[rectify_resize_fpga_streamlined_node-1] 	Synchronized pairs:           0
[rectify_resize_fpga_streamlined_node-1] [WARN] [1656354937.192651937] [rectify_resize_fpga_streamlined_node]: [image_transport] Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized. In the last 10s:
[rectify_resize_fpga_streamlined_node-1] 	Image messages received:      6
[rectify_resize_fpga_streamlined_node-1] 	CameraInfo messages received: 17
[rectify_resize_fpga_streamlined_node-1] 	Synchronized pairs:           5 

below are the list of nodes observed

ubuntu@kria:~$ ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/rectify_resize_fpga_streamlined_node
/rectify_resize_fpga_streamlined_node

It is unclear to me if this duplication of nodes can cause synchronization issue.
Can you please help in resolving?

Build fail for vadd_publisher

I am following the KRS documentation and facing build issue in kv260 example:

xhdjasvinde41:/scratch/Work/Ros2/krs_ws $ colcon build --build-base=build-kv260 --install-base=install-kv260 --merge-install --mixin kv260 --packages-select ament_vitis vadd_publisher
Starting >>> ament_vitis
Finished <<< ament_vitis [0.21s]
Starting >>> vadd_publisher
--- stderr: vadd_publisher
CMake Error at CMakeLists.txt:2 (project):
  The CMAKE_C_COMPILER:

    /scratch/Work/Ros2/krs_ws/install/../acceleration/firmware/kv260/../vitis/gnu/aarch64/lin/aarch64-linux/bin/aarch64-linux-gnu-gcc

  is not a full path to an existing compiler tool.

  Tell CMake where to find the compiler by setting either the environment
  variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
  the compiler, or to the compiler name if it is in the PATH.


CMake Error at CMakeLists.txt:2 (project):
  The CMAKE_CXX_COMPILER:

    /scratch/Work/Ros2/krs_ws/install/../acceleration/firmware/kv260/../vitis/gnu/aarch64/lin/aarch64-linux/bin/aarch64-linux-gnu-g++

  is not a full path to an existing compiler tool.

  Tell CMake where to find the compiler by setting either the environment
  variable "CXX" or the CMake cache entry CMAKE_CXX_COMPILER to the full path
  to the compiler, or to the compiler name if it is in the PATH.


---
Failed   <<< vadd_publisher [0.32s, exited with code 1]

Summary: 1 package finished [0.74s]
  1 package failed: vadd_publisher
  1 package had stderr output: vadd_publisher 

cmake is not able to find a compiler. Can you guide what would be causing the issue.

Failed to build kv260 sd_card image

Hi,

After successful build of my first Ros2 publisher example I am trying to create image, but it is failing with below error:

jasvinder@jasvinder-ubuntu:~/jassi/ROS2/krs_ws$ colcon acceleration linux vanilla --install-dir install-kv260
SECURITY WARNING: This class invokes explicitly a shell via the shell=True argument of the Python subprocess library, and uses admin privileges to manage raw disk images. It is the user's responsibility to ensure that all whitespace and metacharacters passed are quoted appropriately to avoid shell injection vulnerabilities.
- Creating a new base image using /home/jasvinder/jassi/ROS2/krs_ws/acceleration/firmware/select/rootfs.cpio.gz ...
[sudo] password for jasvinder: 
Something went wrong while creating sd card image.
Review the output: gzip: stdin: unexpected end of file

It is really hard to debug what went wrong. Are there any pointers where to debug for this issue.

PS: I am able to create the image on different Ubuntu machine, but it is failing on my local machine.

The following input file does not exist: vadd.xclbin

Hey,

so I am playing with the FPGA acceleration following this example and first I had a problem with

colcon build --build-base=build-kv260 --install-base=install-kv260 --merge-install --mixin kv260 --packages-select ament_vitis ros2acceleration offloaded_doublevadd_publisher

[0.188s] colcon.colcon_core.verb WARNING Some selected packages are already built in one or more underlay workspaces:
	'ament_vitis' is in: /home/andrzej/code_workspace/krs_ws/install
	'ros2acceleration' is in: /home/andrzej/code_workspace/krs_ws/install
	'offloaded_doublevadd_publisher' is in: /home/andrzej/code_workspace/krs_ws/install
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
	--allow-overriding ament_vitis offloaded_doublevadd_publisher ros2acceleration

This may be promoted to an error in a future release of colcon-core.
Starting >>> ament_vitis
Starting >>> ros2acceleration
Finished <<< ament_vitis [0.31s]                                                        
Starting >>> offloaded_doublevadd_publisher
[0.505s] colcon.colcon_core.shell WARNING The following packages are in the workspace but haven't been built:
- vitis_common
They are being used from the following locations instead:
- /home/andrzej/code_workspace/krs_ws/install
To suppress this warning ignore these packages in the workspace:
--packages-ignore vitis_common
--- stderr: offloaded_doublevadd_publisher                                                               
CMake Error at CMakeLists.txt:18 (find_package):
  By not providing "Findvitis_common.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "vitis_common", but CMake did not find one.

  Could not find a package configuration file provided by "vitis_common" with
  any of the following names:

    vitis_commonConfig.cmake
    vitis_common-config.cmake

  Add the installation prefix of "vitis_common" to CMAKE_PREFIX_PATH or set
  "vitis_common_DIR" to a directory containing one of the above files.  If
  "vitis_common" provides a separate development package or SDK, be sure it
  has been installed.


make: *** [Makefile:296: cmake_check_build_system] Error 1
---
Failed   <<< offloaded_doublevadd_publisher [0.52s, exited with code 2]
Aborted  <<< ros2acceleration [0.87s]

Summary: 1 package finished [0.99s]
  1 package failed: offloaded_doublevadd_publisher
  1 package aborted: ros2acceleration
  1 package had stderr output: offloaded_doublevadd_publisher

so there is lack of *.cmake files, but I figured that in order to solve this problem I can just add vitils_common

colcon build --build-base=build-kv260 --install-base=install-kv260 --merge-install --mixin kv260 --packages-select ament_vitis ros2acceleration offloaded_doublevadd_publisher vitis_common

everything compiles, despite that the following error shows up

ERROR: The following input file does not exist: /home/andrzej/code_workspace/krs_ws/build-kv260/offloaded_doublevadd_publisher/vadd.xclbin

Then when I run on kv260

ros2 run offloaded_doublevadd_publisher offloaded_doublevadd_publisher

the following error appears

INFO: Found Xilinx Platform
ERROR: vadd.xclbin xclbin not available please build

any hints on where this error is coming from or from where the file vadd.xclbin is coming from?

Observing Error messages on all four: CPU Only, FPGA, Integrated and streamline applications in ROS Perception

Following error messages has been observed while running any of the above four apps from ROS Perception:
while the output is observed on respective topics as expected.

`root@kria:/home/ubuntu/install-kr260-ubuntu/lib# ros2 launch perception_2nodes trace_rectify_resize.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-27-19-11-14-384088-kria-4880
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tracetools_launch.action]: Writing tracing session to: /root/.ros/tracing/trace_rectify_resize
[INFO] [component_container-1]: process started with pid [4894]
[component_container-1] [INFO] [1656357075.189531890] [perception_container]: Load Library: /home/ubuntu/install-kr260-ubuntu/lib/librectify.so
[component_container-1] [INFO] [1656357075.554523540] [perception_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1656357075.554690732] [perception_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_node' in container '/perception_container'
[component_container-1] [INFO] [1656357075.624117536] [perception_container]: Load Library: /home/ubuntu/install-kr260-ubuntu/lib/libresize.so
[component_container-1] [INFO] [1656357075.635588661] [perception_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>
[component_container-1] [INFO] [1656357075.635757303] [perception_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize/resize_node' in container '/perception_container'

[component_container-1] 2022-06-27 19:11:35.263 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg
[component_container-1] 2022-06-27 19:11:35.372 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.1c.4 -> Function processDataMsg
[component_container-1] 2022-06-27 19:11:35.372 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg
[component_container-1] 2022-06-27 19:11:35.421 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.1c.4 -> Function processDataMsg
[component_container-1] 2022-06-27 19:11:35.421 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg
`

Trying to accelerate turtlebot3 node following acceleration example

I am trying to build the turtlebot3 nodes on the kria by following this tutorial. However, when I try to build the turtlebot3 node package fot the KV260, I get this error:

Does someone know what could be causing this?

Building offloaded_doublevadd_publisher failed

#steps followed from KRS Documentation and trying to build offloaded_doublevadd_publisher package, below is the error log.

surender@xhdsurender41:/scratch/krs_ws$ colcon build --build-base=build-kv260 --install-base=install-kv260 --merge-install --mixin kv260 --packages-select ament_vitis ros2acceleration offloaded_doublevadd_publisher

Starting >>> ament_vitis
Starting >>> ros2acceleration
Finished <<< ament_vitis [0.55s]
Starting >>> offloaded_doublevadd_publisher
[0.998s] WARNING:colcon.colcon_core.shell:The following packages are in the workspace but haven't been built:

• vitis_common
  They are being used from the following locations instead:

• /scratch/krs_ws/install
  To suppress this warning ignore these packages in the workspace:
  --packages-ignore vitis_common
  Finished <<< ros2acceleration [0.57s]
  **--- stderr: offloaded_doublevadd_publisher
  CMake Error at CMakeLists.txt:18 (find_package):
  By not providing "Findvitis_common.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "vitis_common", but CMake did not find one.

  Could not find a package configuration file provided by "vitis_common" with
  any of the following names:

  vitis_commonConfig.cmake
  vitis_common-config.cmake

  Add the installation prefix of "vitis_common" to CMAKE_PREFIX_PATH or set
  "vitis_common_DIR" to a directory containing one of the above files. If
  "vitis_common" provides a separate development package or SDK, be sure it
  has been installed.

---

Failed <<< offloaded_doublevadd_publisher [0.75s, exited with code 1]**

Summary: 2 packages finished [1.47s]
1 package failed: offloaded_doublevadd_publisher
1 package had stderr output: offloaded_doublevadd_publisher

Some examples doesn't build

Hi,
I was triying to build the examples, but the build fails due to a missing vitis_common package.
I think that the problem is that in the install instructions (https://xilinx.github.io/KRS/sphinx/build/html/docs/install.html), in the krs_alpha.repos file, the vitis_common repository is missing.
I cloned it manually and now the examples build, so is necessary to add vitis_common repository to the krs_alpha.repos file

regards,
Pedro

Unable to generate Benchmarking Graphs from tracedata

Hi @vmayoral,

I am trying to reproduce ROS Perception benchmarking data which is published on KRS Documentation i.e. this with KRS 1.0.

I ran CPU Only ROS Perception application which produced following trace data:

trace_rectify_resize/ust/uid/0/64-bit/
├── index
│   ├── ros2_0.idx
│   ├── ros2_1.idx
│   ├── ros2_2.idx
│   └── ros2_3.idx
├── metadata
├── ros2_0
├── ros2_1
├── ros2_2
└── ros2_3

After this I launched the analysis launch file: https://github.com/ros-acceleration/acceleration_examples/blob/main/graphs/perception/perception_2nodes/launch/analyse_rectify_resize.launch.py

while keeping only
image_pipeline_msg_sets_ms_cpu I have commenting out subsequent message_sets* as we didn't have trace data for gpu, fpga and other scenarios.

After launching the modified launch file, following errors are observed:

root@kria:~/.ros/tracing# ros2 launch perception_2nodes analyse_rectify_resize.launch.py 
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-08-08-11-55-00-972134-kria-347256
[INFO] [launch]: Default logging verbosity is set to INFO
/usr/lib/python3/dist-packages/numpy/core/fromnumeric.py:3440: RuntimeWarning: Mean of empty slice.
  return _methods._mean(a, axis=axis, dtype=dtype,
/usr/lib/python3/dist-packages/numpy/core/_methods.py:189: RuntimeWarning: invalid value encountered in double_scalars
  ret = ret.dtype.type(ret / rcount)
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: zero-size array to reduction operation minimum which has no identity

As per trace_tools architecture doc , there is a conversion required which generateds data model from tracedata i.e. converted file.
if we run the launch file by passing converted file path, this leads to below error:

root@kria:~/.ros/tracing# ros2 launch perception_2nodes analyse_rectify_resize.launch.py 
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-08-08-12-19-32-941406-kria-348467
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: list index out of range

Can you please help in understanding what might be missing? Also can you share any example tracedata on which this analyze launch file works well? this would be helpful in comparison and narrowing down the issue.

Failed to launch hello_xilinx in an emulated KV260

surender@xhdsurender41:/scratch/KRS/krs_ws$ colcon acceleration emulation sw_emu install-kv260
SECURITY WARNING: This class invokes explicitly a shell via the shell=True argument of the Python subprocess library, and uses admin privileges to manage raw disk images. It is the user's responsibility to ensure that all whitespace and metacharacters passed are quoted appropriately to avoid shell injection vulnerabilities.

• Verified that install/ is available in the current ROS 2 workspace
• Confirmed availability of raw image file at: /scratch/KRS/krs_ws/acceleration/firmware/select/sd_card.img
• Finished inspecting raw image, obtained UNITS and STARTSECTOR P1/P2
• Image mounted successfully at: /tmp/sdcard_img_p2
• Successfully cleaned up prior overlay ROS 2 workspace at: /tmp/sdcard_img_p2/ros2_ws
• Copied 'install-kv260' directory as a ROS 2 overlay workspace in the raw image.
• Umounted the raw image.
• Generated PMU and QEMU files.
• Launching emulation...
  cd /scratch/KRS/krs_ws/acceleration/firmware/select/emulation && /proj/xbuilds/SWIP/2020.2_1118_1232/installs/lin64/Vitis/2020.2/bin/launch_emulator -device-family ultrascale -target sw_emu -qemu-args-file /scratch/KRS/krs_ws/acceleration/firmware/select/emulation/qemu_args.txt -pmc-args-file /scratch/KRS/krs_ws/acceleration/firmware/select/emulation/pmu_args.txt -sd-card-image /scratch/KRS/krs_ws/acceleration/firmware/select/sd_card.img -enable-prep-target $*
  Running SW Emulation
  INFO : [LAUNCH_EMULATOR] pl_sim_dir option is not provided.
  Starting QEMU
• Press for help
  Waiting for QEMU to start. qemu_port 7376
  Qemu_pids 1045781 1045782
  qemu-system-aarch64: -chardev socket,path=./qemu-rport-_pmu@0,server,id=pmu-apu-rp: info: QEMU waiting for connection on: disconnected:unix:./qemu-rport-_pmu@0,server
  QEMU started. qemu_pid=1045781.
  Waiting for PMU to start. Qemu_pids 1045801 1045802
  qemu-system-aarch64: -chardev socket,id=pl-rp,host=127.0.0.1,port=9248,server: info: QEMU waiting for connection on: disconnected:tcp:127.0.0.1:9248,server
  PMC started. pmc_pid=1045801
  Starting PL simulation.Generating PLLauncher commandline
  running PLL Launcher
  qemu-system-aarch64: Could not reopen file: Permission denied
  qemu-system-microblazeel: /pmu@0: Disconnected clk=5263364164 ns

[LAUNCH_EMULATOR] INFO: 13:00:55 : PS-QEMU exited
[LAUNCH_EMULATOR] INFO: 13:00:57 : PS-QEMU exited
[LAUNCH_EMULATOR] INFO: 13:00:57 : PMU/PMC-QEMU exited
[LAUNCH_EMULATOR] INFO: 13:00:57 : Trying to kill PLLauncher forcefully because QEMU exited
[LAUNCH_EMULATOR] INFO: 13:00:57 : PLLauncher exited by force
Please refer PS /simulate logs at /scratch/KRS/krs_ws/acceleration/firmware/kv260/emulation for more details.
DONE!
INFO: Emulation ran successfully
Finalized successfully.

faster_doublevadd_publisher loads wrong binaryFile

faster_doublevadd_publisher loads wrong binaryFile vadd.xclbin. Should be changed to vadd_faster.xclbin in order to be run correctly.

Issues due to the tracepoint size fields

Since the tracetools_benchmark and tracetools_image_pipeline packages from robotperf/benchmarks and ros-acceleration/image_pipeline respectively have been modified to include two new fields, some files need to be updated in acceleration_examples packages

offloaded_doublevadd_publisher build is error out

surender@xhdsurender41:/scratch/KRS/krs_ws$ colcon build --build-base=build-kv260 --install-base=install-kv260 --merge-install --mixin kv260 --packages-select ament_vitis ros2acceleration offloaded_doublevadd_publisher
Starting >>> ament_vitis
Starting >>> ros2acceleration
Finished <<< ament_vitis [0.60s]
Starting >>> offloaded_doublevadd_publisher
Finished <<< ros2acceleration [0.77s]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
[Processing: offloaded_doublevadd_publisher]
--- stderr: offloaded_doublevadd_publisher
ERROR: The following input file does not exist: /scratch/KRS/krs_ws/build-kv260/offloaded_doublevadd_publisher/vadd.xclbin
---
Finished <<< offloaded_doublevadd_publisher [6min 21s]

Summary: 3 packages finished [6min 22s]
  1 package had stderr output: offloaded_doublevadd_publisher
surender@xhdsurender41:/scratch/KRS/krs_ws$

Not able to run emulation

I am trying to run Emulation for kv260, but I get below error:

[14:11 jasvinde@xhdjasvinde41 krs_ws] > colcon acceleration emulation sw_emu install-kv260
WARNING:colcon.colcon_mixin.mixin:Mixin 'zcu102' from file '/home/jasvinde/.colcon/mixin/zcu102/zcu102.mixin' is overwriting another mixin with the same name
WARNING:colcon.colcon_mixin.mixin:Mixin 'zcu102-debug' from file '/home/jasvinde/.colcon/mixin/zcu102/zcu102.mixin' is overwriting another mixin with the same name
SECURITY WARNING: This class invokes explicitly a shell via the shell=True argument of the Python subprocess library, and uses admin privileges to manage raw disk images. It is the user's responsibility to ensure that all whitespace and metacharacters passed are quoted appropriately to avoid shell injection vulnerabilities.
- Verified that install/ is available in the current ROS 2 workspace
- Confirmed availability of raw image file at: /scratch/Work/Ros2/krs_ws/acceleration/firmware/select/sd_card.img
- Finished inspecting raw image, obtained UNITS and STARTSECTOR P1/P2
- Image mounted successfully at: /tmp/sdcard_img_p2
No prior overlay ROS 2 workspace found at: /tmp/sdcard_img_p2/ros2_ws, creating it.
- Copied 'install-kv260' directory as a ROS 2 overlay workspace in the raw image.
- Umounted the raw image.
- Generated PMU and QEMU files.
- Launching emulation...
cd /scratch/Work/Ros2/krs_ws/acceleration/firmware/select/emulation && /proj/xbuilds/SWIP/2020.2_1118_1232/installs/lin64/Vitis/2020.2/bin/launch_emulator -device-family ultrascale -target sw_emu -qemu-args-file /scratch/Work/Ros2/krs_ws/acceleration/firmware/select/emulation/qemu_args.txt -pmc-args-file /scratch/Work/Ros2/krs_ws/acceleration/firmware/select/emulation/pmu_args.txt -sd-card-image /scratch/Work/Ros2/krs_ws/acceleration/firmware/select/sd_card.img -enable-prep-target $*
Running SW Emulation
INFO :  [LAUNCH_EMULATOR] pl_sim_dir option is not provided.
Starting QEMU
 - Press <Ctrl-a h> for help
Waiting for QEMU to start. qemu_port 8968
Qemu_pids 2200966 2200967
qemu-system-aarch64: -chardev socket,path=./qemu-rport-_pmu@0,server,id=pmu-apu-rp: info: QEMU waiting for connection on: disconnected:unix:./qemu-rport-_pmu@0,server
QEMU started. qemu_pid=2200966.
Waiting for PMU to start. Qemu_pids 2200970 2200971
qemu-system-aarch64: -chardev socket,id=pl-rp,host=127.0.0.1,port=7783,server: info: QEMU waiting for connection on: disconnected:tcp:127.0.0.1:7783,server
PMC started. pmc_pid=2200970
Starting PL simulation.Generating PLLauncher commandline
running PLL Launcher
qemu-system-aarch64: Could not reopen file: Permission denied
qemu-system-microblazeel: /pmu@0: Disconnected clk=5517356585 ns

[LAUNCH_EMULATOR] INFO: 14:11:45 : PMU/PMC-QEMU  exited
[LAUNCH_EMULATOR] INFO: 14:11:47 : PS-QEMU exited
[LAUNCH_EMULATOR] INFO: 14:11:47 : PMU/PMC-QEMU exited
[LAUNCH_EMULATOR] INFO: 14:11:47 : Trying to kill PLLauncher forcefully because QEMU exited
[LAUNCH_EMULATOR] INFO: 14:11:47 : PLLauncher exited by force
Please refer PS /simulate logs at /scratch/Work/Ros2/krs_ws/acceleration/firmware/kv260/emulation for more details.
DONE!
INFO: Emulation ran successfully

I have executed below steps to run emulation:

509  [30/08 14:06:13] source /<path_to_vitis>/Vitis/2020.2/settings64.sh
  510  [30/08 14:06:25] source /opt/ros/foxy/setup.bash
  511  [30/08 14:06:38] export PATH="/usr/bin":$PATH
  512  [30/08 14:08:43] colcon acceleration select kv260
  513  [30/08 14:09:02] colcon acceleration list
  514  [30/08 14:09:58] source install-kv260/setup.bash
  515  [30/08 14:10:01] colcon acceleration list
  516  [30/08 14:10:16] colcon acceleration select kv260
  517  [30/08 14:10:19] colcon acceleration list
  518  [30/08 14:10:37] colcon build --build-base=build-kv260 --install-base=install-kv260 --merge-install --mixin kv260 --packages-select publisher_xilinx
  519  [30/08 14:10:47] colcon acceleration linux vanilla
  520  [30/08 14:11:34] colcon acceleration emulation sw_emu install-kv260

Please guide what possibly I am doing wrong.

CMake Error unknown arguments

acceleration_examples/nodes/doublevadd_publisher/CMakeLists.txt

Line 50 in ee02520

if($ENV{ROS_DISTRO} STREQUAL "rolling")

Instead of STREQUAL, I used MATCHES and this fixed the CMake arg error.

Failed to Get Synthesis Report

I am trying to get synthesis report for simple_adder accelerator, but it is not executing C Simulation. Please see logs below

jasvinder@jasvinder-ubuntu:~/krs_ws$ colcon acceleration list
kv260*
jasvinder@jasvinder-ubuntu:~/krs_ws$ colcon build  --merge-install --build-base=build-kv260 --install-base=install-kv260 --mixin kv260 --packages-select simple_adder
Starting >>> simple_adder
[0.821s] WARNING:colcon.colcon_core.shell:The following packages are in the workspace but haven't been built:
- ament_vitis
They are being used from the following locations instead:
- /home/jasvinder/krs_ws/install
To suppress this warning ignore these packages in the workspace:
--packages-ignore ament_vitis
Finished <<< simple_adder [7.97s]                     

Summary: 1 package finished [8.38s]
jasvinder@jasvinder-ubuntu:~/krs_ws$ colcon acceleration hls simple_adder
 Project:  project_simpleadder1
 Path:  /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1
 	- Solution:  solution_4ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
 Project:  project_simpleadder2
 Path:  /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder2
 	- Solution:  solution_4ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
 	- Solution:  solution_10ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
jasvinder@jasvinder-ubuntu:~/krs_ws$ colcon acceleration hls simple_adder --run
Found Tcl script "project_simpleadder1.tcl" for package: simple_adder
Executing /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1.tcl
Found Tcl script "project_simpleadder2.tcl" for package: simple_adder
Executing /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder2.tcl
 Project:  project_simpleadder1
 Path:  /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1
 	- Solution:  solution_4ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
 Project:  project_simpleadder2
 Path:  /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder2
 	- Solution:  solution_4ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
 	- Solution:  solution_10ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
jasvinder@jasvinder-ubuntu:~/krs_ws$ colcon acceleration hls simple_adder --synthesis-report
 Project:  project_simpleadder1
 Path:  /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1
 	- Solution:  solution_4ns
 		- C Simulation:               Not Run
 		- C Synthesis:                Not Run
 		- C/RTL Co-simulation:        Not Run
		- Export:
 			- IP Catalog:         Not Run
 			- System Generator:   Not Run
 			- Export Evaluation:  Not Run
		- Synthesis report: /home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1/solution_4ns/syn/report/simple_adder_csynth.rpt
[0.537s] ERROR:colcon:colcon acceleration: [Errno 2] No such file or directory: '/home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1/solution_4ns/syn/report/simple_adder_csynth.rpt'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/command.py", line 528, in verb_main
    rc = context.args.main(context=context)
  File "/home/jasvinder/krs_ws/install/lib/python3.8/site-packages/colcon_acceleration/subverb/hls.py", line 495, in main
    self.print_status_solution(s, configuration, context)
  File "/home/jasvinder/krs_ws/install/lib/python3.8/site-packages/colcon_acceleration/subverb/hls.py", line 273, in print_status_solution
    with open(csyn_path,'r') as f:
FileNotFoundError: [Errno 2] No such file or directory: '/home/jasvinder/krs_ws/build-kv260/simple_adder/project_simpleadder1/solution_4ns/syn/report/simple_adder_csynth.rpt'

Please guide for possible issue.