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
Socket programming interfaces provides communication via a network as well as locally on a single computer. Example is INET daemon which waits for incoming network service requests and then call the appropriate service program using the socket file descriptor as standard input and output.
Implementation of Unix domain sockets
- Represented by a kernel data structure socket
- Socket specific functions like Socket(), setsockout()
- The functions are implemented with a single system call socketcall which calls all the necessary functions by reference to the first parameter. The file operation read(), write(), poll(), ioctl(), lseek(), close() are called directly
- Operations of unix domain sockets
- long sys_socket(int family, int type, int protocol);// creates a socket file descriptor
- long sys_connect(int fd, struct sockaddr * uservaddr, int addrlen); //bind the socket to the unix domain address with specified length
- long sys_listen(int fd, int backlog);//checks whether any connections are being accepted at the server address.
- long sys_accept(int fd, struct sockaddr *upeer_sockaddr, int *upeer_addrlen));//server informs the kernel that the connections are being accepted from now on
- long sys_getsockname(int fd, struct sockaddr *usockaddr, int *usockaddr_len); //the address bound to the socket is returned.
- long sys_shutdown(int fd, int how); //to shutdown but status to be given that whether the sending and receiving still allowed
- sending and receiving from the sockets
- Messages can be sent either as a datagram or stream of bytes
- long sys_send(int fd, void *buff, int len, unsigned flags);
- long sys_sendmsg(int fd, struct msghdr *msg, unsigned int flags);
- long sys_recv(int fd, void *buff, int len, unsigned flags);
- long sys_recvmsg(int fd, struct msghdr *msg, unsigned int flags)
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