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
Main Memory Databases
- The entire database is residing on the main memory is the concept behind main memory databases. But there are some problems like data backups and storing logs. So Main memory databases are to rely on Disk based systems to store logs and backups.
- General purpose databases are really huge to sit in to the main memory and they just rely on disk based systems, but real time databases are small and even if it is moderate size, it still sits on the main memory because of speed and cheaper solution.
- Main memory can be used to write log once a transaction commits. The entire log is huge to sit in the main memory, so it is necessary to store logs in the disks at batch mode or by transaction by transactions. In the former case (batch mode), the buffer store upto a volume of logs, then at a stretch it will store in the disks.
- Pointers
are used to access record or data in main memory Databases because of cheaper solutions and speed. If there are multiple copies of the same data available, then only one copy of the item is stored and have pointers to it (for accessing multiple copies). - Indexing scheme
in the disk systems are B trees and B+ Trees. In these mechanisms, the deeper levels are slowly indexed because of the disk accesses and other time consuming parameters. Hence Indexing scheme in Main memory databases uses T trees which are very faster even at the deeper level indexing - In disk based systems, if single disk unit fails, then the data on the other units are not affected and even sometimes RAID arrays are used in Disk systems to take multiple backups of same data. But if a main memory DB fails, then it should be powered down and the entire main memory restored.
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