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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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Rate Monotonic Scheduling (RM)

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Rate Monotonic Scheduling is the optimal static priority algorithm. Shortly it is referred as RM or RMA or RMS. To solve for the RM schedule, the following are the assumptions.

Assumptions:

  • All the tasks are assumed to be periodic
  • The relative deadline of the tasks are equal to its period.
  • No tasks has a non pre-emptible section.
  • The cost of preemption is negligible.

RMA

  1. Priorities are assigned based on the periods of the task.
    1. Lower the period, higher the priority
    2. As rate is the inverse of the period, higher the rate, higher the priority
  2. It is a static priority algorithm (priorities are assigned to tasks during their compilation time)

Schedulability Test for RMA

To find the schedulability Test of RM algorithm

  • the sufficient condition for schedulability test for RM is

  • The necessary and sufficient condition for testing the schedulability test is

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  1. AnonymousNovember 23, 2009 at 9:30 AM

    intresting solution, but i don't know what is means variable

    ReplyDelete
  2. AsheshFebruary 17, 2010 at 3:21 PM

    ej = execution time of the jth task, Pj is the time period of the jth task, and t is the release time, as far as I think.

    ReplyDelete

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