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
Writing Device Driving ISRs in a System
- A device has three sets of device registers
- Data Register
- Control Register
- Status register
- Data Register
- A device initializes by setting the control register bit and the device closes b y resetting the control register bits.
- There may be more than one device register at a device address.
- Control register bits controls all the action of the device.
- Status register bits reflects flags for the status of the device at an instant and changes after performing the actions as per device driver
- ISRs can be called either by setting the status flag or a hardware call by a signal to initiate.
- The status and control registers should be available at the same address, since the processor reads the status from the address during read operation and writes at the same address during the write operation.
Parallel Port Device driver in a System
Step A – Device Initialisation Program
Step B – Device Driver Program
Step 0, 1, 2, 3, 4, 5 – Interrupt Service Routine for PORTA.
Serial Device driver in a System
It uses UART 8250 with Intel 80x86 Processor
Steps for Serial Port Device Driver Program
- Device initialization codes for UART 8250. Define input and output port Addresses (0x2F8 for serial port address in x86 processors)
- Set control bits for interrupt mask and allocate interrupt vector address for device interrupts. (Interrupt vector is a memory address where the driver ISR is located).
- Enable all Interrupts in the system.
- Enable serial line interrupt.
- Set Baud Rate.
- Initialize normal serial data output.
- Enable interrupt controller as initialization of device is finished in the above steps
Transfer character to serial line device by writing it to port at 0x2F8.
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