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
//PROGRAM TO IMPLEMENT SINGLY LINKED LIST\\
#include<stdio.h>
#include<conio.h>
#include<alloc.h>
#include<stdlib.h>
struct node
{
int data;
struct node *link;
};
void append(struct node **,int);
void add_at_begin(struct node **,int);
void del(struct node **,int);
void in_middle(struct node **,int,int);
int count(struct node *);
void display(struct node *);
void main()
{
int num,loc;
char choice;
struct node *p;
p=NULL;
do
{
clrscr();
printf("PROGRAM TO IMPLEMENT SINGLY LINKED LIST\n");
printf("---------------------------------------\n");
printf("\n 1. Create/appending the list");
printf("\n 2. Insert node at begining");
printf("\n 3. Insert node in middle");
printf("\n 4. Deleting a node");
printf("\n 5. Counting the no. of nodes");
printf("\n 6. Displaying the list");
printf("\n 7. Exit");
oper:
gotoxy(1,15);printf(" ");
gotoxy(1,11);printf("\n Enter your choice : ");
choice=getch();
switch(choice)
{
char ans;
case '1':
do
{
printf("Enter any number : ");
scanf("%d",&num);
append(&p,num);
printf("Entr more (y/n) : ");
fflush(stdin);
ans=getchar();
}while(ans!='n');
break;
case '2':
printf("Enter the data : ");
scanf("%d",&num);
add_at_begin(&p,num);
break;
case '3':
printf("\n Enter the data position : ");
scanf("%d",&loc);
printf("\n Enter the data : ");
scanf("%d",&num);
in_middle(&p,loc,num);
break;
case '4':
printf("\n Enter the data u want to delete : ");
scanf("%d",&num);
del(&p,num);
break;
case '5':
printf("\n The no. of nodes are %d",count(p));
getch();
break;
case '6':
display(p);
getch();
break;
case '7':
printf("\n Quiting.......");
getch();
exit(0);
break;
default:
gotoxy(1,15);printf("Invalid choice please Enter correct choice");
getch();
goto oper;
}
}while(choice!=7);
}
void append(struct node **q,int num)
{
struct node *temp,*r;
temp=*q;
if(*q==NULL)
{
temp=(struct node *)malloc(sizeof(struct node));
temp->data=num;
temp->link=NULL;
*q=temp;
}
else
{
temp=*q;
while(temp->link!=NULL)
{
temp=temp->link;
}
r=(struct node *)malloc(sizeof(struct node));
r->data=num;
r->link=NULL;
temp->link=r;
}
}
void display(struct node *q)
{
if(q==NULL)
{
printf("\nEmpty link list can't display the data");
getch();
goto last;
}
while(q!=NULL)
{
printf("\n%d",q->data);
q=q->link;
}
last:
}
int count(struct node *q)
{
int c=0;
if(q==NULL)
{
printf("Empty link list \n");
getch();
goto last;
}
while(q!=NULL)
{
c++;
q=q->link;
}
last:
return c;
}
void add_at_begin(struct node **q,int num)
{
struct node *temp;
if(*q==NULL)
{
printf("Link list is empty can't insert");
getch();
goto last;
}
else
{
temp=(struct node *)malloc(sizeof(struct node));
temp->data=num;
temp->link=*q;
*q=temp;
}
last:
getch();
}
void in_middle(struct node **q,int loc,int num)
{
struct node *temp,*n;
int c=1,flag=0;
temp=*q;
if(*q==NULL)
{
printf("\nLink List is empty can't insert");
getch();
goto last;
}
else
while(temp!=NULL)
{
if(c==loc)
{
n=(struct node *)malloc(sizeof(struct node));
n->data=num;
n->link=temp->link;
temp->link=n;
flag=1;
}
c++;
temp=temp->link;
}
if(flag==0)
{
printf("\nNode specified doesn't Exist can't Enter the Data");
getch();
}
else
{
printf("Data Inserted");
getch();
}
last:
getch();
}
void del(struct node **q,int num)
{
if(*q==NULL)
{
printf("\n Empty linked list cant delete the data");
getch();
goto last;
}
else
{
struct node *old,*temp;
int flag=0;
temp=*q;
while(temp!=NULL)
{
if(temp->data==num)
{
if(temp==*q)
*q=temp->link;
else
old->link=temp->link;
free(temp);
flag=1;
}
else
{
old=temp;
temp=temp->link;
}
}
if(flag==0)
printf("\n Data not found...");
else
printf("\n Data deleted...Tap a key to continue");
getch();
}
last:
getch();
}
Sample output:
PROGRAM TO IMPLEMENT SINGLY LINKED LIST
---------------------------------------
1. Create/appending the list
2. Insert node at beginning
3. Insert node in middle
4. Deleting a node
5. Counting the no. of nodes
6. Displaying the list
7. Exit
Enter your choice : Enter any number : 12
Entr more (y/n) : y
Enter any number : 23
Entr more (y/n) : y
Enter any number : 34
Enter more (y/n) :n
Enter your choice :6
12
23
34
Enter your choice :5
The no. of nodes are 3
Enter your choice :4
Enter the data u want to delete : 25
Data not found...
Enter your choice :3
Enter the data position : 2
Enter the data : 00
Data Inserted
Enter your choice :6
12
23
0
34
Enter your choice :7
Quiting.......
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