Design a User-defined robot of your choice (or you can use the URDF file) and enable the LIDAR Scanner so that any obstacle placed on the path of the light scan will cut the light rays. Visualize the robot in the Gazebo workspace, and also show the demonstration in RViz. (NB: Gain knowledge on wiring URDF file and .launch file for enabling any user-defined robot to get launched in the gazebo platform.) SLAM : One of the most popular applications of ROS is SLAM(Simultaneous Localization and Mapping). The objective of the SLAM in mobile robotics is to construct and update the map of an unexplored environment with the help of the available sensors attached to the robot which will be used for exploring. URDF: Unified Robotics Description Format, URDF, is an XML specification used in academia and industry to model multibody systems such as robotic manipulator arms for manufacturing assembly lines and animatronic robots for amusement parks. URDF is especially popular with users of the Robo
Definition:
The Combination of Software and Hardware in which the software controls the entire hardware for a dedicated application.
Components of an Embedded Systems
* Power Supply and Reset circuit
* Timer
* Watch Dog Timer or WDT
* Processor
* Memory
RAM Which stores the data (data Memory)
ROM Which stores the Program (Program Memory)
* Interrupt controllers
* IO Ports
* UART for Serial communication
* Parallel ports
Classification of Embedded Systems
Small Scale Embedded Systems
* Uses 8 or 16 bit microcontrollers
* Software and harware complexity is very less
* uses C as a programming language
* The codes are cross compiled and stored in the system memory.
* They sometimes may be battery operated.
Example processors : Intel 8051, Microchip PIC16f8X, Motorola 68HC05,08
Medium Scale Embedded Systems
* Uses 16 or 32 bit controllers or sometime uses DSPs(Digital Signal Processors) or RISC (Reduced Instruction Set Processors)
* They have great complexity.
* They use a Real Time Operating Systems (RTOS), SImulators, Debuggers, emulators, and IDE to develop all these functionalities.
Example: Intel 8051, 80251,80196 Motorola 68HCX11,12
Large Scale Embedded Systems
* They use 32 bit processors.
* They use CPLDs or FPGAs or ASICs
* They are System on Chip Controllers
* They go from initial design like co design and co analysis and co verification
* The Processing speeds are very high in these systems.
* They sometime may be proprietary systems in which the development tools may not be available at all.
Example: ARM7, IBM Power PC
The Combination of Software and Hardware in which the software controls the entire hardware for a dedicated application.
Components of an Embedded Systems
* Power Supply and Reset circuit
* Timer
* Watch Dog Timer or WDT
* Processor
* Memory
RAM Which stores the data (data Memory)
ROM Which stores the Program (Program Memory)
* Interrupt controllers
* IO Ports
* UART for Serial communication
* Parallel ports
Classification of Embedded Systems
Small Scale Embedded Systems
* Uses 8 or 16 bit microcontrollers
* Software and harware complexity is very less
* uses C as a programming language
* The codes are cross compiled and stored in the system memory.
* They sometimes may be battery operated.
Example processors : Intel 8051, Microchip PIC16f8X, Motorola 68HC05,08
Medium Scale Embedded Systems
* Uses 16 or 32 bit controllers or sometime uses DSPs(Digital Signal Processors) or RISC (Reduced Instruction Set Processors)
* They have great complexity.
* They use a Real Time Operating Systems (RTOS), SImulators, Debuggers, emulators, and IDE to develop all these functionalities.
Example: Intel 8051, 80251,80196 Motorola 68HCX11,12
Large Scale Embedded Systems
* They use 32 bit processors.
* They use CPLDs or FPGAs or ASICs
* They are System on Chip Controllers
* They go from initial design like co design and co analysis and co verification
* The Processing speeds are very high in these systems.
* They sometime may be proprietary systems in which the development tools may not be available at all.
Example: ARM7, IBM Power PC
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