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

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

Simulation of D Flip Flop and J-K Flip Flop

Requirements:

  • WARP
  • Active HDL
  • Cool Runner and Fitter CPLD Kit

D Flip Flop

image

 

Program for D Flip flop
Library ieee;
Use ieee.std_logic_1164.all;
entity dff is
port (
clk: in BIT;
data: in BIT;
q: out BIT;
qbar: out BIT
);
end dff;
architecture dff of dff is
begin
process(clk,data)
begin
if(clk='1') then
q <= data;
qbar <= not data;
end if;
end process;
end dff;

Waveform (D Flip Flop)

image

JK Flip Flop

image

 

Program for J-K flip flop
library IEEE;
use IEEE.std_logic_1164.all;
entity jkff is
port (
clk: in STD_LOGIC;
j: in STD_LOGIC;
k: in STD_LOGIC;
q: inout STD_LOGIC;
qbar: inout STD_LOGIC
);
end jkff;
architecture jkff of jkff is
begin
process(clk)
begin
if(clk'event and clk='1') then
if(j = not k) then
q <= j;
qbar <= k;
elsif(j = '1' and k = '1') then
q <= not q;
qbar <= not qbar;
end if;
end if;
end process;
end jkff;

Waveform (JK Flip Flop)

image

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