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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

Introduction to Proc File System

  • The proc file system provides information on the current status of the Linux kernel and running process.
  • It also allows modifications of kernel parameters in simple ways during runtime
  • Each process in the system that is currently running is assigned a directory /proc/pid, where pid is the process identification number of the relevant process
  • There are also files and directories for process independent information such as loaded modules, used bus systems etc.

Disadvantages of Proc

  • There is no interface for the individual files, every user has to find out where and how the information that is required is hidden in the file
  • Another disadvantage is that all information is output as strings, therefore conversion is always necessary for further processing

Structure of File system

struct proc_dir_entry

{

unsigned short low_ino; //inode number

unsigned short namelen; //length of the name

const char *name; //name of the entry

mode_t mode; //mode

uid_t uid; //User ID

gid_t gid; //Group ID

unsigned long size; //size of the file

struct inode_operations *proc_iops; //inode-op

struct file_operations *proc_fops; //file-op

struct proc_dir_entry *next, *parent, *subdir; //connection

….

}

The above structure is as PD entry.

  • The pointer next, parent, subdir are used for linking. Next shows the next entry in the current directory, parent shows the parent directory (root directory), and subdir shows a subdirectory. This can be implemented like the following loop

for(de=de->subdir ; de; de=de->next){

…..

}

  • the file and the directory entries are lying under the /proc/ directory

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