This document discusses using ROS (Robot Operating System) interfaces with MATLAB and Android. It provides an overview of the ROS-MATLAB interface, including initializing ROS networks in MATLAB, listing ROS nodes and topics, and communicating from MATLAB to a ROS network. It also discusses controlling a ROS robot from a MATLAB GUI application by publishing velocity commands. The document includes code examples and block diagrams to illustrate how to connect MATLAB to a ROS network and control a robot.
The document describes the ARM7TDMI processor core. It is a 32-bit RISC processor capable of executing 16-bit Thumb instructions. It features a JTAG debugging interface, multiplier, and support for embedded emulation. It has a three-stage pipeline and interfaces with memory using different bus cycles.
This Presentation describes the ARM CORTEX M3 core processor with the details of the core peripherals. Soon a CORTEX base controller(STM32F100RBT6) ppt will be uploaded. For more information mail me at:gaurav.iitkg@gmail.com.
This presentation gives an overview of the PIC micro-controllers. Additionally, it describes the advantages, disadvantages and applications of these micro-controllers. It also explains real-world projects that are possible using the PIC micro-controllers.
This document provides an introduction to embedded systems, including their components, characteristics, and design process. It discusses the selection of processors and memory devices for embedded systems. It also describes structural units in embedded processors, memory management methods, timer and counting devices, watchdog timers, real-time clocks, and the use of in-circuit emulators for debugging embedded systems.
Miasm is a reverse engineering framework created in 2006 and first published in 2011 (GPL). Since then, it has been continuously improved through a daily use. The framework is made of several parts, including an assembler/disassembler for several architectures (x86, aarch64, arm, etc.), an human readable intermediate language describing their instructions' semantic, or sandboxing capabilities of Windows/Linux environment. On top of these foundations, higher level analysis are provided to address more complex tasks, such as variable backtracking and dynamic symbolic execution.
In this talk, we will introduce some of these features. The journey will start with the basics of the framework, go through symbolic emulation and function divination (Sibyl), and end with various components useful for malware analysis.
We will also talk about some of the new features which will be released for Black Hat. For example, the freshly implemented SSA transformation will be illustrated by applications in code simplification. Then, we will demonstrate how this feature, jointly with new operators description, enables more accurate code analyses. Finally, we will highlight what a better environment simulations and a wider support of recent instructions provides.
Miasm being a practical tool, each topic will be covered with real life use-cases.
This slide provides a basic understanding of hypervisor support in ARM v8 and above processors. And these slides (intent to) give some guidelines to automotive engineers to compare and choose right solution!
The Arduino Uno is a microcontroller board based on the ATmega328P chip. It has 32KB of flash memory, 2KB of SRAM, and 1KB of EEPROM. The board has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter to get started.
A talk I gave at Creative Crew (Singapore) on 12 August 2016 to introduce newcomers to the Raspberry Pi.
Video link of this talk can be found here: https://engineers.sg/v/955
Code used in the talk can be found here: https://github.com/yeokm1/getting-started-with-rpi
The document describes the ARM7TDMI processor core. It is a 32-bit RISC processor capable of executing 16-bit Thumb instructions. It features a JTAG debugging interface, multiplier, and support for embedded emulation. It has a three-stage pipeline and interfaces with memory using different bus cycles.
This Presentation describes the ARM CORTEX M3 core processor with the details of the core peripherals. Soon a CORTEX base controller(STM32F100RBT6) ppt will be uploaded. For more information mail me at:gaurav.iitkg@gmail.com.
This presentation gives an overview of the PIC micro-controllers. Additionally, it describes the advantages, disadvantages and applications of these micro-controllers. It also explains real-world projects that are possible using the PIC micro-controllers.
This document provides an introduction to embedded systems, including their components, characteristics, and design process. It discusses the selection of processors and memory devices for embedded systems. It also describes structural units in embedded processors, memory management methods, timer and counting devices, watchdog timers, real-time clocks, and the use of in-circuit emulators for debugging embedded systems.
Miasm is a reverse engineering framework created in 2006 and first published in 2011 (GPL). Since then, it has been continuously improved through a daily use. The framework is made of several parts, including an assembler/disassembler for several architectures (x86, aarch64, arm, etc.), an human readable intermediate language describing their instructions' semantic, or sandboxing capabilities of Windows/Linux environment. On top of these foundations, higher level analysis are provided to address more complex tasks, such as variable backtracking and dynamic symbolic execution.
In this talk, we will introduce some of these features. The journey will start with the basics of the framework, go through symbolic emulation and function divination (Sibyl), and end with various components useful for malware analysis.
We will also talk about some of the new features which will be released for Black Hat. For example, the freshly implemented SSA transformation will be illustrated by applications in code simplification. Then, we will demonstrate how this feature, jointly with new operators description, enables more accurate code analyses. Finally, we will highlight what a better environment simulations and a wider support of recent instructions provides.
Miasm being a practical tool, each topic will be covered with real life use-cases.
This slide provides a basic understanding of hypervisor support in ARM v8 and above processors. And these slides (intent to) give some guidelines to automotive engineers to compare and choose right solution!
The Arduino Uno is a microcontroller board based on the ATmega328P chip. It has 32KB of flash memory, 2KB of SRAM, and 1KB of EEPROM. The board has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter to get started.
A talk I gave at Creative Crew (Singapore) on 12 August 2016 to introduce newcomers to the Raspberry Pi.
Video link of this talk can be found here: https://engineers.sg/v/955
Code used in the talk can be found here: https://github.com/yeokm1/getting-started-with-rpi
RAM, or Random Access Memory, is a type of volatile memory that can be accessed randomly. There are two main types of RAM: SRAM (Static RAM) and DRAM (Dynamic RAM). SRAM does not need to be refreshed, while DRAM must be refreshed regularly to maintain its data. DRAM is faster than SRAM but also more expensive. DRAM is the most common type used in computers today and comes in memory module forms like DIMMs, SO-DIMMs, and memory sticks.
Read-only memory (ROM), also known as firmware, is an integrated circuit programmed with specific data when it is manufactured. ROM chips are used not only in computers, but in most other electronic items as well. In this section, you will learn about the different types of ROM and how each works.
Read-only memory (ROM) is a type of non-volatile memory used in computers and other electronic devices. Data stored in ROM can only be modified slowly, with difficulty, or not at all, so it is mainly used to store firmware (software that is closely tied to specific hardware and unlikely to need frequent updates) or application software in plug-in cartridges.
Comparison between RISC architectures: MIPS, ARM and SPARCApurv Nerlekar
Provides an overview about the three architectures, and if followed during any product design would lead us to choose a better architecture providing high performance of the product which ultimately means a leap in the market.
Overview of Operating System, Need for OS, Structure, OS Types, Examples of OS (desktop and mobile) Dual mode operation, Kernel and microkernel, Functions of OS User interfaces; Corporate Vs Personal needs; Types of OS Installation.
The document provides an overview of the basic parts of a personal computer (PC) including:
1. The case, power supply, motherboard, CPU, memory (RAM and ROM), hard disk, floppy disk drive, CD-ROM drive, graphics card, sound card, modem, mouse, and keyboard.
2. It describes each component's function and provides examples. It also includes a functional block diagram showing how the components interconnect and communicate within a PC system.
The document summarizes a presentation on AVR microcontrollers. It discusses the AVR family of microcontrollers, highlighting their RISC architecture, 32 general purpose registers, and single cycle instruction execution. It also covers new AVR features, application specific AVRs for tasks like motor control, USB, and CAN, and automotive-qualified AVRs using CMOS process technology.
The document provides an overview of embedded systems and ARM processors. It discusses key aspects of ARM processors including the pipeline, memory management features like cache, TCM, MMU and TLB. It also summarizes the AMBA specification and differences between operating in ARM and Thumb states. The document is intended as lecture material for an embedded systems course covering ARM architecture.
This document introduces the STM32 microcontroller. It will cover the ARM Cortex processor, the STM32 system-on-chip, and its basic building blocks. The course outline includes introductions to the Cortex architecture, CMSIS standard, STM32 system architecture, peripherals, low power operation, safety features, flash memory, and development tools.
The document discusses the VLSI lab and its goals of designing and simulating CMOS inverter circuits using CAD tools. It describes the necessary hardware, software, and foundry resources needed. The design steps are outlined as schematic creation, layout design, DRC checks, parasitic extraction, and post-layout simulation. A list of experiments is provided focusing on logic gates, flip flops, multiplexers, and sequential circuits. The document also discusses the Microwind tool for circuit layout and simulation and provides tutorials on MOS devices and design rules for the layout process.
A microprocessor and microcontroller are the central components of embedded systems. Due to their small size, low cost, and simple design, embedded systems have become ubiquitous in both consumer and industrial devices (paragraph 1). Embedded systems can be found in applications like biomedical devices, communication systems, computer peripherals, industrial instrumentation, scientific equipment, and more (paragraphs 2-3). Earlier embedded systems used microprocessors which required external components, but modern systems typically use microcontrollers which integrate memory and I/O peripherals onto a single chip for a simpler design (paragraphs 4-6). A microcontroller contains components like an ALU, memory, I/O ports, timers/counters, and more, making it well-suited
CISC processors have a large number of complex instructions that can perform operations directly from memory to memory. In contrast, RISC processors have a small set of simple instructions that operate only within registers, with load and store as separate instructions. The first RISC projects in the late 1970s-early 1980s from IBM, Stanford, and UC-Berkeley aimed for single-cycle execution with a fixed-length instruction format. RISC emphasizes hardware simplicity while CISC focuses on smaller code size and higher cycles per second.
Memory organisation ppt final presentationrockymani
Memory is an essential component of computers that is used to store programs and data. Computers typically have three levels of memory: main memory, secondary memory, and cache memory. Main memory is fast memory that stores programs and data being executed. Secondary memory is permanent storage for programs and data used less frequently. Cache memory sits between the CPU and main memory for faster access. Memory is also classified by location, access method, volatility, and type. The different types include registers, main memory, secondary memory, cache memory, RAM, ROM, PROM, EPROM, and EEPROM.
Bca i-fundamental of computer-u-3-functions operating systemsRai University
The document discusses operating systems and their functions. It defines an operating system as software that manages computer hardware resources and provides interfaces. The key functions of an operating system include managing the CPU, RAM and hardware; providing security; and providing interfaces for users and application software. Common operating system types include batch processing, real-time processing, time-sharing, and examples of Windows, Linux/Unix, and mobile operating systems.
This document provides information about ARM Ltd and the ARM architecture. It discusses the history and founding of ARM, the basic operating modes and registers in the ARM architecture, the instruction sets and pipeline stages of various ARM processors, and the features of ARM Cortex processors like the Cortex-A8 and Cortex-A9.
This document describes the design of a finite state machine (FSM) to control a simple washing machine. The washing machine has 6 states: off, fill water 1, drain 1, fill water 2, rinse, and drain 2. The FSM will use 3 D-flip flops to represent the 3 state bits and control the water inlet, drum motor speed, and other functions based on the current state. Block diagrams, state diagrams, truth tables, and logic circuits are provided to illustrate the FSM design.
The document discusses control unit implementation in computer architectures. It describes the 6-step instruction cycle and micro-operations that generate control signals to activate data path components like registers and ALU according to the machine state and control data. Micro-operations are made up of micro-actions that control individual components. The timing of micro-operations is controlled through a machine cycle divided into timing states. An example RISC-S architecture and its instruction set and micro-operations are provided.
This book guides the beginner to start up with Embedded C programming using MP LAB . This Book covers all interfacing examples with pic micro controller and guides beginners to develop projects on PIC micro controller
1) Pipelining is a technique used in CPU design to improve throughput by allowing subsequent instructions to begin execution before previous instructions have finished. This document uses an example of laundry to illustrate how pipelining reduces the time to complete multiple loads from 6 hours to 3.5 hours.
2) Advances like superscalar, multi-core, and many-core architectures have attempted to improve CPU performance by executing multiple instructions simultaneously. However, fundamental limits like Amdahl's Law mean speedups from parallelism are limited by the fraction of a workload that can be parallelized.
3) GPUs and Intel's Xeon Phi coprocessor employ even more parallelism through massively multith
This document provides information about the objectives, outcomes, and modules of a computer organization course. The course aims to explain computer subsystems and their organization, illustrate how programs are executed as machine instructions, and describe memory hierarchy and arithmetic/logical operations. It will also cover the organization of simple and pipelined processors. The course outcomes include explaining basic computer organization and demonstrating how subsystems like the processor, memory, and I/O systems function.
This document provides an introduction to the Robot Operating System (ROS). It discusses problems in robotics development that ROS aims to address, such as lack of standards and code reusability. The key features of ROS are presented, including its peer-to-peer communication model using topics and messages, and its use of packages and libraries to encourage code reuse. ROS uses a master to facilitate communication between nodes publishing and subscribing to topics.
ROS Based Programming and Visualization of Quadrotor HelicoptersAtılay Mayadağ
ROS Based Programming and Visualization of Quadrotor Helicopters
Contents
Purpose of Thesis
Robot Operating System ( ROS )
What is Robot Operating System ( ROS ) ?
ROS structure
HOW does ROS work ?
Navigation of Robot with ROS
URDF : Unified Robot Description Format
ROS with 3D Modelling and Simulation
Quadrotor Simulation on Rviz and Gazebo with ROS
Conclusion and Recommendation
ROS publish / subscribe method
unmanned air vehicle
Robot Operating System
ATILAY MAYADAG
RAM, or Random Access Memory, is a type of volatile memory that can be accessed randomly. There are two main types of RAM: SRAM (Static RAM) and DRAM (Dynamic RAM). SRAM does not need to be refreshed, while DRAM must be refreshed regularly to maintain its data. DRAM is faster than SRAM but also more expensive. DRAM is the most common type used in computers today and comes in memory module forms like DIMMs, SO-DIMMs, and memory sticks.
Read-only memory (ROM), also known as firmware, is an integrated circuit programmed with specific data when it is manufactured. ROM chips are used not only in computers, but in most other electronic items as well. In this section, you will learn about the different types of ROM and how each works.
Read-only memory (ROM) is a type of non-volatile memory used in computers and other electronic devices. Data stored in ROM can only be modified slowly, with difficulty, or not at all, so it is mainly used to store firmware (software that is closely tied to specific hardware and unlikely to need frequent updates) or application software in plug-in cartridges.
Comparison between RISC architectures: MIPS, ARM and SPARCApurv Nerlekar
Provides an overview about the three architectures, and if followed during any product design would lead us to choose a better architecture providing high performance of the product which ultimately means a leap in the market.
Overview of Operating System, Need for OS, Structure, OS Types, Examples of OS (desktop and mobile) Dual mode operation, Kernel and microkernel, Functions of OS User interfaces; Corporate Vs Personal needs; Types of OS Installation.
The document provides an overview of the basic parts of a personal computer (PC) including:
1. The case, power supply, motherboard, CPU, memory (RAM and ROM), hard disk, floppy disk drive, CD-ROM drive, graphics card, sound card, modem, mouse, and keyboard.
2. It describes each component's function and provides examples. It also includes a functional block diagram showing how the components interconnect and communicate within a PC system.
The document summarizes a presentation on AVR microcontrollers. It discusses the AVR family of microcontrollers, highlighting their RISC architecture, 32 general purpose registers, and single cycle instruction execution. It also covers new AVR features, application specific AVRs for tasks like motor control, USB, and CAN, and automotive-qualified AVRs using CMOS process technology.
The document provides an overview of embedded systems and ARM processors. It discusses key aspects of ARM processors including the pipeline, memory management features like cache, TCM, MMU and TLB. It also summarizes the AMBA specification and differences between operating in ARM and Thumb states. The document is intended as lecture material for an embedded systems course covering ARM architecture.
This document introduces the STM32 microcontroller. It will cover the ARM Cortex processor, the STM32 system-on-chip, and its basic building blocks. The course outline includes introductions to the Cortex architecture, CMSIS standard, STM32 system architecture, peripherals, low power operation, safety features, flash memory, and development tools.
The document discusses the VLSI lab and its goals of designing and simulating CMOS inverter circuits using CAD tools. It describes the necessary hardware, software, and foundry resources needed. The design steps are outlined as schematic creation, layout design, DRC checks, parasitic extraction, and post-layout simulation. A list of experiments is provided focusing on logic gates, flip flops, multiplexers, and sequential circuits. The document also discusses the Microwind tool for circuit layout and simulation and provides tutorials on MOS devices and design rules for the layout process.
A microprocessor and microcontroller are the central components of embedded systems. Due to their small size, low cost, and simple design, embedded systems have become ubiquitous in both consumer and industrial devices (paragraph 1). Embedded systems can be found in applications like biomedical devices, communication systems, computer peripherals, industrial instrumentation, scientific equipment, and more (paragraphs 2-3). Earlier embedded systems used microprocessors which required external components, but modern systems typically use microcontrollers which integrate memory and I/O peripherals onto a single chip for a simpler design (paragraphs 4-6). A microcontroller contains components like an ALU, memory, I/O ports, timers/counters, and more, making it well-suited
CISC processors have a large number of complex instructions that can perform operations directly from memory to memory. In contrast, RISC processors have a small set of simple instructions that operate only within registers, with load and store as separate instructions. The first RISC projects in the late 1970s-early 1980s from IBM, Stanford, and UC-Berkeley aimed for single-cycle execution with a fixed-length instruction format. RISC emphasizes hardware simplicity while CISC focuses on smaller code size and higher cycles per second.
Memory organisation ppt final presentationrockymani
Memory is an essential component of computers that is used to store programs and data. Computers typically have three levels of memory: main memory, secondary memory, and cache memory. Main memory is fast memory that stores programs and data being executed. Secondary memory is permanent storage for programs and data used less frequently. Cache memory sits between the CPU and main memory for faster access. Memory is also classified by location, access method, volatility, and type. The different types include registers, main memory, secondary memory, cache memory, RAM, ROM, PROM, EPROM, and EEPROM.
Bca i-fundamental of computer-u-3-functions operating systemsRai University
The document discusses operating systems and their functions. It defines an operating system as software that manages computer hardware resources and provides interfaces. The key functions of an operating system include managing the CPU, RAM and hardware; providing security; and providing interfaces for users and application software. Common operating system types include batch processing, real-time processing, time-sharing, and examples of Windows, Linux/Unix, and mobile operating systems.
This document provides information about ARM Ltd and the ARM architecture. It discusses the history and founding of ARM, the basic operating modes and registers in the ARM architecture, the instruction sets and pipeline stages of various ARM processors, and the features of ARM Cortex processors like the Cortex-A8 and Cortex-A9.
This document describes the design of a finite state machine (FSM) to control a simple washing machine. The washing machine has 6 states: off, fill water 1, drain 1, fill water 2, rinse, and drain 2. The FSM will use 3 D-flip flops to represent the 3 state bits and control the water inlet, drum motor speed, and other functions based on the current state. Block diagrams, state diagrams, truth tables, and logic circuits are provided to illustrate the FSM design.
The document discusses control unit implementation in computer architectures. It describes the 6-step instruction cycle and micro-operations that generate control signals to activate data path components like registers and ALU according to the machine state and control data. Micro-operations are made up of micro-actions that control individual components. The timing of micro-operations is controlled through a machine cycle divided into timing states. An example RISC-S architecture and its instruction set and micro-operations are provided.
This book guides the beginner to start up with Embedded C programming using MP LAB . This Book covers all interfacing examples with pic micro controller and guides beginners to develop projects on PIC micro controller
1) Pipelining is a technique used in CPU design to improve throughput by allowing subsequent instructions to begin execution before previous instructions have finished. This document uses an example of laundry to illustrate how pipelining reduces the time to complete multiple loads from 6 hours to 3.5 hours.
2) Advances like superscalar, multi-core, and many-core architectures have attempted to improve CPU performance by executing multiple instructions simultaneously. However, fundamental limits like Amdahl's Law mean speedups from parallelism are limited by the fraction of a workload that can be parallelized.
3) GPUs and Intel's Xeon Phi coprocessor employ even more parallelism through massively multith
This document provides information about the objectives, outcomes, and modules of a computer organization course. The course aims to explain computer subsystems and their organization, illustrate how programs are executed as machine instructions, and describe memory hierarchy and arithmetic/logical operations. It will also cover the organization of simple and pipelined processors. The course outcomes include explaining basic computer organization and demonstrating how subsystems like the processor, memory, and I/O systems function.
This document provides an introduction to the Robot Operating System (ROS). It discusses problems in robotics development that ROS aims to address, such as lack of standards and code reusability. The key features of ROS are presented, including its peer-to-peer communication model using topics and messages, and its use of packages and libraries to encourage code reuse. ROS uses a master to facilitate communication between nodes publishing and subscribing to topics.
ROS Based Programming and Visualization of Quadrotor HelicoptersAtılay Mayadağ
ROS Based Programming and Visualization of Quadrotor Helicopters
Contents
Purpose of Thesis
Robot Operating System ( ROS )
What is Robot Operating System ( ROS ) ?
ROS structure
HOW does ROS work ?
Navigation of Robot with ROS
URDF : Unified Robot Description Format
ROS with 3D Modelling and Simulation
Quadrotor Simulation on Rviz and Gazebo with ROS
Conclusion and Recommendation
ROS publish / subscribe method
unmanned air vehicle
Robot Operating System
ATILAY MAYADAG
ROS - An open source platform for robotics software developers (lecture).pdfAmine Bendahmane
ROS (Robot Operating System) is a middleware and framework for robotics. It provides libraries and tools for robot hardware abstraction, message-passing between processes, and low-level device control. ROS is useful for rapid prototyping and development of robotics applications as it handles low-level communication and provides APIs for common tasks like navigation and path planning. The newer ROS 2 version improves on ROS 1 with distributed operation, real-time capabilities, and support for multiple programming languages on different operating systems.
Rapyuta is an open source cloud robotics platform that allows robots to offload heavy computation to secure, customizable computing environments in the cloud. This alleviates costs and space constraints associated with on-board computation. Rapyuta uses Linux containers to create computing environments that robots can send tasks to. It employs a web socket-based communication server to enable bidirectional communication between robots and their cloud environments. This architecture allows robots to share resources and knowledge. Rapyuta's cloud environments, communication protocols, and command structure help robots efficiently leverage cloud computing capabilities.
Introduction to MATrices LABoratory (MATLAB) as Part of Digital Signal Proces...Ahmed Gad
This document provides an introduction and overview of MATLAB as part of a digital signal processing course. It discusses MATLAB installation, packages, versions, and what MATLAB is. It also covers the MATLAB desktop interface including the command window, command history, workspace, and current folder windows. Finally, it outlines the MATLAB syllabus which will cover topics like MATLAB variables, data types, matrices, control structures, figures/plots, and scripting.
Matlab is programming language developed by MathWorks that provides a computing environment for programming.
www.techsparks.co.in/introduction-and-basics-of-matlab/
Architectural Model Inference From Code For ROS-Based Robotics SystemsTobias Dürschmid
Model-based analysis is a common technique to identify incorrect behavioral composition of complex, safety critical systems, such as robotics systems. However, creating structural and behavioral models for hundreds of software components manually is often a labor-intensive and error-prone process. In this talk I present our past, current, and ongoing work to infer structural and behavioral models for components of systems based on the Robot Operating System (ROS) using static analysis by exploiting assumptions about the usage of the ROS framework. We see this work as a contribution towards making well-proven and powerful but infrequently used methods of model-based analysis more accessible and economical in practice to make robotics systems more reliable and safe.
This document introduces Roboconf, an open source tool for deploying and managing distributed applications. It provides the following key points:
- Roboconf uses graphs, agents, and a messaging server to deploy applications across multiple targets like VMs, devices, and infrastructures. It can handle dynamic reconfigurations.
- The Deployment Manager interfaces with agents using a messaging server to deploy applications based on recipes defined in graphs. Agents install and manage applications on targets.
- Roboconf supports use cases like cloud deployments, hybrid environments, and dynamic applications. Its plugin architecture allows integrating tools like Puppet, Chef, and Bash scripts to handle lifecycle actions.
- Graphs define components,
The Datafiddler is a tool that allows users to analyze and visualize network traffic data stored in a MongoDB database by the Hatkit Proxy. It provides two primary views: a table view that displays raw data fields, and an aggregator view that shows aggregated data in a tree structure. Additional third-party plugins are planned to integrate other analysis frameworks.
Ruby is an object-oriented programming language created in 1993, while Rails is a web application framework built using Ruby. The document provides an overview of Ruby and Rails, including what Rails is and its key advantages such as convention over configuration, don't repeat yourself (DRY) principles, and object-relational mapping (ORM). It also demonstrates creating a sample Rails application and using the Spree e-commerce gem.
Node-RED and Minecraft - CamJam September 2015Boris Adryan
This workshop uses the Node-RED framework as development tool for JavaScript. Building on functionality available for generic programming challenges, we’re going to use the communication standard TCP (Transmission Control Protocol) to interact with the Minecraft API (Application Programming Interface). The material is aimed at people who have had first experience with the Minecraft API on a Raspberry Pi (say, using Python), who now want to understand what's going on behind the scenes and what TCP, API and all those other acronyms mean. It also introduces flow-based programming concepts.
ROS is an open-source, meta-operating system for robots that provides services like hardware abstraction, device control, message passing, and package management. It has tools and libraries for building, writing, and running code across multiple computers. ROS uses a publish-subscribe model with message-passing between processes. Key aspects of ROS include its plumbing for messaging, extensive tools, capabilities through libraries, and large ecosystem/community. The ROS equation can be defined as: ROS = Robots + Operating System + Software + Community.
My slides for the Hands-on part of the Robotic Vision Summer School 2015 in Kioloa, Australia.
This is part of the robotics workshop, aiming to teach the participants how to program the turtlebot .
MongoDB Developer's Notebook, March 2016 -- MongoDB Connector for Business In...Daniel M. Farrell
This document provides instructions for configuring MongoDB, the MongoDB Connector for BI, Eclipse, and Toad to allow running SQL queries against MongoDB from within Eclipse. It describes downloading and installing a Postgres JDBC driver, MongoDB, and the MongoDB Connector for BI. It also covers creating a sample MongoDB database and collection with documents, and configuring Eclipse and Toad to connect to MongoDB via the Connector using the JDBC driver. This will allow running SQL queries from within Eclipse to interact with MongoDB data.
Robotics Operating System is Tool for Robotics Programming , This Presentation Show The Features of Robot Operating System and how to Work with it. Implement Simple Robot Simulation Model.
The Arduino is what is known as a Physical or Embedded Computing platform, which means that it is an interactive system that through the use of hardware, firmware and software can interact with its environment.
The document discusses different types of computer languages and platforms. It provides tables listing popular programming languages, their developers, and release years. It also compares procedural programming languages like C with object-oriented languages like C++, and discusses low-level vs high-level languages. Platforms for languages like Java, .NET, and C# are examined. The document provides information on a variety of programming topics in a structured format.
Similar to Communication between matlab ros toolbox and ros network (20)
Expanding Access to Affordable At-Home EV Charging by Vanessa WarheitForth
Vanessa Warheit, Co-Founder of EV Charging for All, gave this presentation at the Forth Addressing The Challenges of Charging at Multi-Family Housing webinar on June 11, 2024.
Implementing ELDs or Electronic Logging Devices is slowly but surely becoming the norm in fleet management. Why? Well, integrating ELDs and associated connected vehicle solutions like fleet tracking devices lets businesses and their in-house fleet managers reap several benefits. Check out the post below to learn more.
Welcome to ASP Cranes, your trusted partner for crane solutions in Raipur, Chhattisgarh! With years of experience and a commitment to excellence, we offer a comprehensive range of crane services tailored to meet your lifting and material handling needs.
At ASP Cranes, we understand the importance of reliable and efficient crane operations in various industries, from construction and manufacturing to logistics and infrastructure development. That's why we strive to deliver top-notch solutions that enhance productivity, safety, and cost-effectiveness for our clients.
Our services include:
Crane Rental: Whether you need a crawler crane for heavy lifting or a hydraulic crane for versatile operations, we have a diverse fleet of well-maintained cranes available for rent. Our rental options are flexible and can be customized to suit your project requirements.
Crane Sales: Looking to invest in a crane for your business? We offer a wide selection of new and used cranes from leading manufacturers, ensuring you find the perfect equipment to match your needs and budget.
Crane Maintenance and Repair: To ensure optimal performance and safety, regular maintenance and timely repairs are essential for cranes. Our team of skilled technicians provides comprehensive maintenance and repair services to keep your equipment running smoothly and minimize downtime.
Crane Operator Training: Proper training is crucial for safe and efficient crane operation. We offer specialized training programs conducted by certified instructors to equip operators with the skills and knowledge they need to handle cranes effectively.
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At ASP Cranes, customer satisfaction is our top priority. We are dedicated to delivering reliable, cost-effective, and innovative crane solutions that exceed expectations. Contact us today to learn more about our services and how we can support your project in Raipur, Chhattisgarh, and beyond. Let ASP Cranes be your trusted partner for all your crane needs!
EV Charging at MFH Properties by Whitaker JamiesonForth
Whitaker Jamieson, Senior Specialist at Forth, gave this presentation at the Forth Addressing The Challenges of Charging at Multi-Family Housing webinar on June 11, 2024.
Ever been troubled by the blinking sign and didn’t know what to do?
Here’s a handy guide to dashboard symbols so that you’ll never be confused again!
Save them for later and save the trouble!
Understanding Catalytic Converter Theft:
What is a Catalytic Converter?: Learn about the function of catalytic converters in vehicles and why they are targeted by thieves.
Why are They Stolen?: Discover the valuable metals inside catalytic converters (such as platinum, palladium, and rhodium) that make them attractive to criminals.
Steps to Prevent Catalytic Converter Theft:
Parking Strategies: Tips on where and how to park your vehicle to reduce the risk of theft, such as parking in well-lit areas or secure garages.
Protective Devices: Overview of various anti-theft devices available, including catalytic converter locks, shields, and alarms.
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Communication between matlab ros toolbox and ros network
1. Chapter 8. ROS on MATLAB and Android
As you all know, MATLAB is one of the powerful numerical computation tools available for
research, education, and commercial applications. Also, we don't need any more explanation of
the Android OS, which is one of the most popular mobile operating systems. In this chapter, we
will mainly work with the ROS interface of MATLAB and Android.
By combining the capabilities of MATLAB and Android in ROS, we can create powerful robotic
projects. Here are the main topics we will discuss in this chapter:
Getting started with the ROS-MATLAB interface
Communicating from MATLAB to a ROS network
Controlling a ROS robot from MATLAB
Getting started with Android and its ROS interface
Installing the ROS-Android interface
Playing with ROS-Android applications
ROS-Android code walk through
Creating a basic application using the ROS-Android interface
Getting started with the ROS-MATLAB
interface
The ROS-MATLAB interface is a useful interface for researchers and students for
prototyping their robot algorithms in MATLAB and testing it on ROS-compatible robots.
The robotics system toolbox in MATLAB provides the interface between MATLAB and
ROS. We can prototype our algorithm and test it on a ROS-enabled robot or in robot
simulators such as Gazebo and V-REP
(http://www.coppeliarobotics.com/downloads.html). From MATLAB, we can publish or
subscribe to a topic, such as a ROS node, and we can make it a ROS master. The
MATLAB-ROS interface has most of the ROS functionalities that we need.
Here is a block diagram shows how MATLAB is communicating with a robot which is
running on ROS.
2. Figure 1: The MATLAB - Robot communication diagram
From the preceding figure, you can understand, MATLAB is equipped with powerful
toolboxes such as computer vision, control system and signal processing. We can fetch
the data from robot through ROS interface and process using these toolbox. After
processing sensor data, we can also send control commands to robot. These
communications are all occurs via ROS-MATLAB interface.
Here are some of the main features of the ROS – MATLAB interface:
It can seamlessly connect to another ROS network and can work with various
robot capabilities. We can also visualize the robot sensor data in MATLAB.
We can create ROS nodes, publishers, and subscribers directly from MATLAB
and Simulink.
We can send and receive topics using ROS messages and ROS custom
messages.
It has full support for ROS services.
We get ROS functionality from any OS platform (Windows, Linux, or Mac).
We can make MATLAB the ROS master.
We can import ROS bag files and analyze, visualize, and post-process logged
data.
It provides full-fledged communication with robot simulators such as Gazebo and
V-REP for offline programming.
We can create standalone ROS C++ nodes from a Simulink model.
3. Setting Robotics Toolbox in MATLAB
Here is the link to download a trial or purchase the Robotics Toolbox in MATLAB
(https://in.mathworks.com/products/robotics.html). This toolbox is compatible with MATLAB
version 2013 onward. If you don't have MATLAB, you can test the chapter's code using a trial
version; if you have it, buy or download a trial version of Robotic Toolbox.
Basic ROS functions in MATLAB
After setting up Robotics Toolbox in MATLAB, we can start working on the important
functions of MATLAB that are used to interact with a ROS network. Let's look at them
with examples.
Initializing a ROS network
Before running a ROS node, we have to run the roscore command, right?
The roscore command will start a ROS master, and other ROS nodes can find each
other through it. In MATLAB, instead of the roscore command, we can use
the rosinit function to start a ROS master.
Figure 2 : The rosinit function in MATLAB
The rosinit function can start a ROS master and a global node that is connected to the
master. Here, we can see that MATLAB itself can act as a ROS master and other nodes
can connect to it. We can also connect to a ROS network from MATLAB. We'll cover
that in the next section. In such a setup, the ROS master is running on a different
system, either on a ROS robot or ROS PC. Let's try some of the ROS commands in
MATLAB to list ROS nodes, topics, and all that. The good thing about the MATLAB –
ROS interface is that the commands of Robotics Toolbox are similar to the actual ROS
bash commands. Let's go through a few commands to list out ROS parameters.
Listing ROS nodes, topics, and messages
The commands to inspect nodes, topics, and messages are similar to ROS bash
commands. MATLAB provides a command to start sample ROS nodes that can publish
topics. You can just call exampleHelperROSCreateSampleNetwork to start these nodes.
4. Figure 3: ROS-MATLAB commands
You can see that the usage of rosnode and rostopic is the same as with real ROS
commands. You can even echo the rostopic using rostopic echo /topic_name. Here is
one example, in which we are echoing a topic called /pose:
Figure 4: ROS topic echo output
You can get the complete list of ROS commands in MATLAB using the help command.
Here is the syntax for doing so:
5. >> help robotics.ros
This is the screenshot of the list of commands with MATLAB for ROS:
Figure 5: List of ROS-MATLAB commands
6. Communicating from MATLAB to a ROS
network
We have worked with some MATLAB commands and we've understood that we can
communicate with ROS from MATLAB. But the previous commands were executed in a
MATLAB terminal by making MATLAB the ROS master. But what do we do when we need to
communicate with a ROS network or a ROS-based robot? The method is simple.
Assuming your PC has MATLAB and the ROS PC/robot is connected to the same network. It
can be connected either through LAN or Wi-Fi. If the PC and robot are connected to the same
network, both should have identical IP addresses. The first step is to find each device's IP
address.
If your MATLAB installation is in Windows, you can open Command Prompt window by
simply searching for cmd in the search window; then, enter the ipconfig command. This will list
the network adapters and their details:
Figure 6: Wi-Fi adapter details and its IP in a MATLAB system
Here you can see that the PC running MATLAB and the ROS system are connected through Wi-
Fi, and the IP is marked. If you are using MATLAB from Linux, you can use
the ifconfig command instead of ipconfig. You can also get the IP of the ROS-running PC,
which could be a Linux PC, using the same command.
Figure 7: Wi-Fi adapter details and IP of ROS system
So in this case, the IP address of the MATLAB system is 192.168.1.101 and that of the ROS
system is 192.168.1.102. Here is how the network looks like:
7. Figure 8: Connecting MATLAB to a ROS network
Connecting from MATLAB to the ROS network is pretty easy. First, we have to set
the ROS_MASTER_URI variable, which is the IP of the ROS PC/robot where the ROS master is
running. You have to mention the port along with the IP; the default port is 11311.
Before connecting to the ROS network, be sure that you run roscore on the ROS PC/robot.
MATLAB can connect to the ROS network if there is a ROS master running on it.
The following command helps us connect to the ROS network:
>> setenv('ROS_MASTER_URI','http://192.168.1.102:11311')
>> rosinit
Figure 9: Connecting to ROS network
You can also do this using following command:
>> rosinit('192.168.1.102', 'NodeHost', '192.168.1.101')
Here, the first argument is the ROS network IP and next one is the IP of the host. If the
connection is successful, we will get a message like in preceding screenshot.
After connecting to the network, run an example node on the ROS PC/robot. You can use
following node for testing:
$ rosrun roscpp_tutorials talker
This node basically publishes string data (std_msgs/String) to the /chatter topic. You can see
the node output from the following screenshot:
8. Figure 10: roscpp talker node
Now list the topics in MATLAB and see the magic!
>> rostopic list
You will see something like the following screenshot:
Figure 11: roscpp talker node
We can also publish values from MATLAB to ROS. Let's see how.
This will connect to the ROS network:
>>setenv('ROS_MASTER_URI','http://192.168.1.102:11311')
>> rosinit
This will create a handle for the ROS publisher. The publisher topic name is /talker and
message type is std_msgs/String.
>> chatpub = rospublisher('/talker', 'std_msgs/String');
This line will create a new message definition:
>> msg = rosmessage(chatpub);
Here, we are putting data into the message:
>> msg.Data = 'Hello, From Matlab';
Now let's send the message through the topic:
9. >> send(chatpub,msg);
With this command, we are latching the message to the topic:
>> latchpub = rospublisher('/talker', 'IsLatching', true);
After executing these commands in MATLAB, check the topic list from the ROS PC and echo it.
You will get the same message, like this:
Figure 12: Listing rostopic from MATLAB on a ROS PC
10. Controlling a ROS robot from MATLAB
Here is an interesting MATLAB GUI application that uses ROS APIs to remotely control a
robot. The final application will look like the following:
Figure 13: MATLAB-ROS application GUI
In this application, we can put in the ROS master IP, port, and the teleop topic of the robot in its
GUI itself. When we press the connect button, the MATLAB application will connect to the
ROS network. Now, we can move the robot by pressing the Forward, Backward, Left,
and Right buttons.
Here is the design block diagram of this application:
Figure 14: MATLAB-ROS application design block diagram
11. So let's look at how we can build an application like this.
Here are some of the frequently asking questions in ROS-MATLAB interface
1. How to run multiple ROS nodes in MATLAB?
Yes, we can run multiple ROS nodes in MATLAB. The following command in
MATLAB will give you an example to do it.
>>>openExample('robotics/RunMultipleROSNodesToPerformDifferentTasksExample')
2. Does MATLAB support launch files?
No, there is no XML kind launch files in MATLAB, but we can start and end
nodes in a MATLAB script which will work almost like a launch file.
3. What features exist in both MATLAB and ROS?
For example plotting data, any recommendations for the use of each?
4. There are plotting tools available in ROS and MATLAB. The tools such as rqt_gui help
to plot different kind of data which are coming as topics. If you want to play with data and
its analysis, MATLAB is the good choice.
Designing the MATLAB GUI application
MATLAB provides easy ways to design a GUI. Here is one popular method to create a
GUI using GUI development environment (GUIDE)
(https://in.mathworks.com/discovery/matlab-gui.html). To start GUIDE in MATLAB, just
type guide in your MATLAB command line:
Figure 15: MATLAB GUI wizard
You can select a Blank GUI and press OK. You will get a blank GUI, and you can add
buttons and text boxes according to your requirements. The following figure shows the
12. basic GUI elements in GUIDE. You can see an empty GUI form and toolbox. We can
just drag components from the toolbox to the form. For example, if we need a push
button and text edit box, we can just drag and drop those items to the empty form and
align them on the form:
Figure 16: MATLAB GUI empty form
After assigning buttons, we have to generate a callback function for them, which will be
executed once the button is pressed (or the text edit box is changed). You can create
the callback function from the option highlighted in the following figure. When you save
it, you will get a *.m file too. This is the MATLAB code file, in which we are going to write
the callback functions.
Figure 17: Inserting callback functions
13. The preceding figure shows how to insert a callback for each button. Right-click on the
button and press the Callback option. You'll see the empty callback function for this
button:
Figure 18: An empty callback function
In the next section, we will discuss the content of each callback of the application.
Explaining callbacks
You can get the complete code from chapter_8_codes/Matlab/teleop.m. Let's look at the
content and functions of each callback. The first callback we are going to see is for
the ROS MASTER IP edit box:
function edit1_Callback(hObject, eventdata, handles)
global ros_master_ip
ros_master_ip = get(hObject,'String')
When we enter an IP address from the ROS network in this edit box, it will store the IP
address as a string in a global variable called ros_master_ip. If you don't enter the IP,
then a default value is loaded, defined outside the callback.
Here are the initial values of ros_master_ip, ros_master_port, and teleop topic.
ros_master_ip = '192.168.1.102';
ros_master_port = '11311';
teleop_topic_name = '/cmd_vel_mux/input/teleop';
If we don't provide any values in the textbox, these initial values get loaded.
The next GUI element is for obtaining the ROS MASTER PORT. This is the callback of
this edit box:
function edit2_Callback(hObject, eventdata, handles)
global ros_master_port
ros_master_port = get(hObject,'String')
In this function too, the port from the edit box is stored as string type in a global variable
called ros_master_port.
14. The next edit box is for obtaining the teleop_topic_name. Here is its callback function
definition:
function edit3_Callback(hObject, eventdata, handles)
global teleop_topic_name
teleop_topic_name = get(hObject,'String')
Similar to ros_master_port and port, this too is stored as string in a global variable.
After obtaining all these values, we can press the Connect to Robot button for
connecting to the ROS robot/ROS PC. If the connection is successful, you can see
proper messages in the command line. Here are the callback definitions of the Connect
to Robot button:
function pushbutton6_Callback(hObject, eventdata, handles)
global ros_master_ip
global ros_master_port
global teleop_topic_name
global robot
global velmsg
ros_master_uri =
strcat('http://',ros_master_ip,':',ros_master_port)
setenv('ROS_MASTER_URI',ros_master_uri)
rosinit
robot = rospublisher(teleop_topic_name,'geometry_msgs/Twist');
velmsg = rosmessage(robot);
This callback will set the ROS_MASTER_URI variable by concatenating ros_master_ip and the
port. Then, it initialize the connection by calling rosinit. After connecting, it will create a
publisher of geometry_msgs/Twist, which is for sending the command velocity. The topic
name is the name that we give in the edit box.
After successful connection, we can control the robot by pressing keys such
as Forward, Backward, Left, and Right.
The speeds of linear and angular velocity are initialized as follows:
global left_spinVelocity
global right_spinVelocity
global forwardVelocity
global backwardVelocity
left_spinVelocity = 2;
right_spinVelocity = -2;
forwardVelocity = 3;
backwardVelocity = -3;
15. Let's look at the function definition of Forward first:
function pushbutton4_Callback(hObject, eventdata, handles)
global velmsg
global robot
global teleop_topic_name
global forwardVelocity
velmsg.Angular.Z = 0;
velmsg.Linear.X = forwardVelocity;
send(robot,velmsg);
latchpub = rospublisher(teleop_topic_name, 'IsLatching', true);
What it basically does is it publishes a linear velocity and latches it on the topic. In
the Backward callback, we are providing a negative linear velocity. In
the Left and Right callbacks, we are only providing an angular velocity.
After doing all this, we can save the figure file, which is the .fig and .m file, which is the
MATLAB file.
Running the application
You can load your own application or the application that came along with the book.
Here's how to run the application:
Figure 19: Running MATLAB application
First, you have to click on the Browse button, marked 1, to go to the application folder.
If you are in the application folder, you can see the application files listed in the folder
marked 2. After obtaining the files, double-click on the application file, which will pop up
in the editor, and click on the Run button, marked 3.
16. Now, you will get the GUI and can fill the input arguments. After filling it all in, press
the Enter key; only then it will give the value to the main code. You can fill the form like
shown in the following screenshot. You can see the main GUI entries here.
Figure 20: Running the MATLAB application
Before connecting to the ROS robot, confirm whether robot or robot simulation is
running on the ROS PC. For doing a test, you can start a TurtleBot simulation on the
ROS PC using the following command:
$ roslaunch turtlebot_gazebo turtlebot_world.launch
The teleop topic of TurtleBot is /cmd_vel_mux/input/teleop, which we have already
provided in the application.
After starting the simulation, you can connect to the MATLAB application by pressing
the Connect to Robot button. If the connection is successful, you can see that the
robot is moving when you press the corresponding buttons, as shown here:
17. Figure 21: Controlling a robot in a ROS network
You can echo the command velocity topic using the following command:
$ rostopic echo /cmd_vel_mux/input/teleop
After working with the robot, you can press the Disconnect button to disconnect from
the ROS network.
You can clone the book code using the following command
$ git clone https://github.com/qboticslabs/ros_robotics_projects