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
time command in Linux
The time command is linux is very much useful if you want to know the time information while running a program or a process.
The time command usage is as follows
prompt $] time <commandname>
Example
prompt $] time ls
The output will be
real 0m0.002s
user 0m0.004s
sys 0m0.000s
Desktop Documents Downloads examples.desktop Music Pictures Public Templates Videos
Command being timed: "ls"
User time (seconds): 0.00
System time (seconds): 0.00
Percent of CPU this job got: 400%
Elapsed (wall clock) time (h:mm:ss or m:ss): 0:00.00
Average shared text size (kbytes): 0
Average unshared data size (kbytes): 0
Average stack size (kbytes): 0
Average total size (kbytes): 0
Maximum resident set size (kbytes): 3600
Average resident set size (kbytes): 0
Major (requiring I/O) page faults: 0
Minor (reclaiming a frame) page faults: 286
Voluntary context switches: 1
Involuntary context switches: 0
Swaps: 0
File system inputs: 0
File system outputs: 0
Socket messages sent: 0
Socket messages received: 0
Signals delivered: 0
Page size (bytes): 4096
Exit status: 0
The time command usage is as follows
prompt $] time <commandname>
Example
prompt $] time ls
The output will be
real 0m0.002s
user 0m0.004s
sys 0m0.000s
If you want to see the detailed system parameters occupied during a program or process, then the command will be
prompt$] TIMEFORMAT="" time -v <commandname>
The output of the above command isDesktop Documents Downloads examples.desktop Music Pictures Public Templates Videos
Command being timed: "ls"
User time (seconds): 0.00
System time (seconds): 0.00
Percent of CPU this job got: 400%
Elapsed (wall clock) time (h:mm:ss or m:ss): 0:00.00
Average shared text size (kbytes): 0
Average unshared data size (kbytes): 0
Average stack size (kbytes): 0
Average total size (kbytes): 0
Maximum resident set size (kbytes): 3600
Average resident set size (kbytes): 0
Major (requiring I/O) page faults: 0
Minor (reclaiming a frame) page faults: 286
Voluntary context switches: 1
Involuntary context switches: 0
Swaps: 0
File system inputs: 0
File system outputs: 0
Socket messages sent: 0
Socket messages received: 0
Signals delivered: 0
Page size (bytes): 4096
Exit status: 0
Similarly, if a C or C++ program is compiled and linked to a file called helloc (the creation of helloc is given below)
prompt $] gcc -o helloc hello.c
or
prompt $] g++ -o helloc tspradeep.cc
if you want to execute this command
prompt $] TIMEFORMAT="" time -v ./helloc
The time command will show you the memory page faults, context swtiching, swap memory used and other system parameters, etc.
If you have any added input for this command, let you write in the comment section.
Pradeep Kumar TS
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