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
ADA handles programmer defined exceptions and system defined exceptions
Some of the system defined exceptions are like
- NUMERIC_ERROR - raised whenever the abnormal precision in the program like divide by zero
- STORAGE-ERROR - raised whenever the program runs out of memory space
- CONSTRAINT_ERROR - asserts when a variable goes out of its bound
- TASKING_ERROR - raised during the incorrect use of tasks
- PROGRAM_ERROR- raised whenever an exception is not captured by any other conditions
Example on Exceptions
//Program to create two programmer defined exceptions
declare
P,PRESSURE:float;
HIGH_PRESSURE, LOW_PRESSURE:exception;
begin
loop
P:=READ_PRESSURE(PRESSURE);
if P<100>
raise LOW_PRESSURE;
elseif P>150 then
raise HIGH_PRESSURE;
end if;
end loop;
exception
when LOW_PRESSURE => put("Warning: Very Low Pressure");
when HIGH_PRESSURE => put ("Warning: High Pressure");
- When exceptions are raised in multiple procedures or block and Procedures, handling the exceptions can be done using any of the procedure
- For Example, If there are three procedures X,Y and Z. X calls Y and Y calls Z, now there is an exception at Z (which does not have exception handler), the control will transfer the previous procedure Y (Which contains the exception handling mechanism) and handled over there.
- Similary if a block does not have an exception handler, then the procedure which includes the block handles the expection , if that procedure contains the exception handler
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