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
Simple Data types
//creates three variables for TEMPERATURE which is of type float
type TEMPERATURE is new float; ta, tb, tc: TEMPERATURE;
//creates three variables for PRESSURE which is of type float
type PRESSURE is new float; pa, pb, pc: PRESSURE;
ta=pa is illegal as it is implicit type conversion
ta= TEMPERATURE(pa); is legal
//creates range between o to 10000
type HEIGHT is new float range 0..100000;
Sub types
type TIME is new float range 0..23.59; subtype MORNING is TIME range 0..11.59; subtype NOON is TIME range 12..16.00; subtype EVENING is TIME range 16.01..18.59
Enumeration type
MONTH is (jan,feb,mar,apr,may,jun,jul,aug,sep,oct,nov,dec);
floating point
type var1 is digits 8 range -1e20..1e20;
type var2 is digits 12 range -1e20..1e20;
fixed point
type var3 is delta 0.001 range 0.000..0.999;
Arrays
//SMALLINT is a array variable can have the range between 0 and 20, 10 such variables are declared
type SMALLINT is integer range 0..20;
type VAR4 is array(1..10) of SMALLINT;
//creates three variables for TEMPERATURE which is of type float
type TEMPERATURE is new float; ta, tb, tc: TEMPERATURE;
//creates three variables for PRESSURE which is of type float
type PRESSURE is new float; pa, pb, pc: PRESSURE;
ta=pa is illegal as it is implicit type conversion
ta= TEMPERATURE(pa); is legal
//creates range between o to 10000
type HEIGHT is new float range 0..100000;
Sub types
type TIME is new float range 0..23.59; subtype MORNING is TIME range 0..11.59; subtype NOON is TIME range 12..16.00; subtype EVENING is TIME range 16.01..18.59
Enumeration type
MONTH is (jan,feb,mar,apr,may,jun,jul,aug,sep,oct,nov,dec);
floating point
type var1 is digits 8 range -1e20..1e20;
type var2 is digits 12 range -1e20..1e20;
fixed point
type var3 is delta 0.001 range 0.000..0.999;
Arrays
//SMALLINT is a array variable can have the range between 0 and 20, 10 such variables are declared
type SMALLINT is integer range 0..20;
type VAR4 is array(1..10) of SMALLINT;
Sir ,thank you very much for the information about ADA real time programming language.It was very much helpful.
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