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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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Software Testing, Verifiying and Validating

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Verification - to ensure that all the specific functions are correctly implemented

Validation - to ensure that the software that has been created is as per the requirments agreed upon at the analysis phase and to ensure its quality

Testing

White Box Testing (also called as Glass Box)
  1. Testing the program flow
  2. Testing the conditions
  3. testing all the loop indices (start to last)
  4. all logical paths
  5. testing the function control structures and looping structure
Black Box Testing (Behavioral testing)
  1. testing in done with set of input conditions and events
  2. performance testing
Specific Environment Testing
  1. Testing GUI and User Interface
  2. Client Server Testing
  3. Test the display and keypad
  4. Testing the help utilities and Documents
Comparison Testing
  1. Several available versions are running in parallel and the functions and behavior compared
Debugging

  1. Laboratory tools like Simulator, IDE, etc
  2. Program Break Points
  3. Macros
  4. Output files for Inputs
  5. Scopes (CRO, Storage Oscilloscopes, Logic Analyzer,etc)
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  1. Laura BushFebruary 18, 2021 at 3:27 AM

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