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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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Virtual Sockets and Remote Procedure Call (RPC)

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Virtual Sockets
  • Tasks or section of Tasks can communicate with another task or section of task
  • The tasks may send or receive the stream of bytes or datagram to communicate with each other
  • It is similar like IP Address / Port.
  • In the above diagram, Task C in the Task Set is communicating with Task D in the Same Task Set
  • Similarly, the Section I Portion of Task A is communicating with Section J of Task B.
Remote Procedure Call (RPC)
  • When a Task1 at System 1 and Task2 at System 2, then Remote Procedure call is used.
  • RPC Will be used only when both the systems are connected peer to peer but not in client server mode
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