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
Mobility of Turtlesim in ROS1
Perform the TurtleSim simulation is ROS and make the circular movement and square movement of the turtle.
SOURCE CODE: rectangle_movement.py
#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist
# This is one logic, where square and rectangle are drawn without changing the orientation of the turtle
def square_movement():
pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
rospy.init_node('tsim_sqmove_driver', anonymous=True)
rate = rospy.Rate(1)
del_t = 0
direction = 0
while not rospy.is_shutdown():
robo_vel = Twist()
if del_t % 20:
if direction == 0:
robo_vel.linear.y = 0
robo_vel.linear.x = 1
direction = 1
elif direction == 1:
robo_vel.linear.y = 1
robo_vel.linear.x = 0
direction = 2
elif direction == 2:
robo_vel.linear.y = 0
robo_vel.linear.x = -1
direction = 3
elif direction == 3:
robo_vel.linear.y = -1
robo_vel.linear.x = 0
direction = 0
del_t += 1
pub.publish(robo_vel)
rate.sleep()
if __name__ == '__main__':
try:
square_movement()
except rospy.ROSInterruptException:
pass
 |
| Turtlesim |
triangle_movement.py
#!usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist
import math
def rotate(pub, robo_vel, angle=2*math.pi/3):
angular_speed = 2
robo_vel.angular.z = angular_speed
start_t = rospy.Time.now().to_sec()
d_angle = 0
while d_angle < angle:
pub.publish(robo_vel)
cur_t = rospy.Time.now().to_sec()
d_angle = angular_speed * (cur_t - start_t)
robo_vel.angular.z = 0
pub.publish(robo_vel)
def triangle_movement():
pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
rospy.init_node('tsim_trimove_driver', anonymous=True)
rate = rospy.Rate(1)
del_t = 0
while not rospy.is_shutdown():
robo_vel = Twist()
robo_vel.linear.x = 2
if del_t % 20 == 0 and del_t != 0:
robo_vel.linear.x = 0
rotate(pub, robo_vel, 2*math.pi/3)
del_t += 1
pub.publish(robo_vel)
rate.sleep()
if __name__ == '__main__':
try:
triangle_movement()
except rospy.ROSInterruptException:
pass
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