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
This post and the subsequent posts will help you in understanding the intricacies of C programming. These posts just shows you the basics of C programming and some worked examples for that.
Features of C Programming
T S Pradeep Kumar
C Program with Linux |
Features of C Programming
- C is a small language having lesser number of keywords than Java or pascal.
- C is a native language of Unix, Linux. Not only that many of the windows packages, database programs, graphics libraries are written in C program
- C is portable – it provides standard set of libraries that work on the same way with all machines
- C is modular, as it supports functions to divide the program in to sub program
- C is efficient on most machines, because certain constructs are machine dependant.
- Comments
- the comments are usually ignored by the compiler
- so this part informs about the author of the program
- what is the usefulness of this program
- updation or creation of the program
- Example: // - Single line comment
- /* ----- multi line comments ….*/
- Preprocessor Directives
- before the compiler runs, the preprocessing takes place.
- the preprocessors are prefix with a symbol #
- Examples: #include, #define, #ifdef, #pragma, etc.
- Function prototypes
- This is to inform the compiler that the following functions are defined in this program.
- it specifies the name of the function, arguments or parameters and return type and it ends with a semicolon
- Ex: int sum(int,int);
- Global Variables
- Global variables which are declared above all the functions
- As the name says, they are available to all the functions of that program
- They are usually stored in the RAM
- Main Function
- main is the function which is main to the entire program
- Every C program should have a main function
- syntax: int main() { }
- Earlier, the main program will return nothing, ie void, but now the compilers are instructing us to provide a return type for the main() function
- User defined functions
- After the main() function, the user defined functions are defined, as per the function prototype declared in the program
- The function can be defined above the main function also, in that case there is not need for function prototype
- Syntax:
int sum(int a, int b)
{
int f;
f=a+b;
return f;
}
T S Pradeep Kumar
Comments
Post a Comment