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Simulation of URDF, Gazebo and Rviz | ROS Noetic Tutorial 8

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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
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USB (Universal Serial Bus)

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USB is a device that can be attached, configured and used, reset, reconfigured and used, share the bandwidth with other devices, detached (while others are in operation) and reattached
  • Developed by Intel, Microsoft and Philips in 1998.Initial model was USB 1.0.
  • The latest version is USB 2.0.
  • Currently supported versions are USB 1.1 and 2.0
  • The Speed of USB 1.1 is(1.5Mbps or 12 Mbps)
  • The speed of USB 2.0 is 480Mbps.
  • USBs are bus powered or self powered.
  • USBs are hot pluggable (once they are installed, there is no need for rebooting the system).
  • USBs share their bandwidth.
  • 127 USB devices can be connected to a single USB slot and all the devices shares the bandwidth.
  • USBs has four wires, one for +5v, one for ground and two for twisted pair cables.
  • The next version under research is USB3.0, the speed of it may be around 4.8Gbps.
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