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
Integrated Circuits IC or Chip Various gates are interconnected to form a circuit 14 to 64 pins for a typical IC Levels of Integration Small Scale Integration (SSI) Less than 10 gates Medium Scale Integration (MSI) 10 to 100 gates, adders, multiplexers Large Scale Integration (LSI) 100 to few thousands of gates, processors Very Large Scale Integration (VLSI) Thousands of gates, complex computer Chips, memory arrays Digital Logic Families TTL (Transistor – Transistor Logic) Widespread and this is the standard Bipolar ECL (Emitter Coupled Logic ) For high speed operation Bipolar MOS (Metal Oxide Semiconductors) High component density Unipolar CMOS (Complementary Metal Oxide Semiconductors) Useful where Low power consumption is needed unipolar Characteristics of digital logic families Fan in Number of inputs of an electronic gate Physical logic gates with large fan in are