### Simulation of URDF, Gazebo and Rviz | ROS Noetic Tutorial 8

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

### Rate Monotonic Scheduling (RM)

Rate Monotonic Scheduling is the optimal static priority algorithm. Shortly it is referred as RM or RMA or RMS. To solve for the RM schedule, the following are the assumptions.

Assumptions:

• All the tasks are assumed to be periodic
• The relative deadline of the tasks are equal to its period.
• No tasks has a non pre-emptible section.
• The cost of preemption is negligible.

RMA

1. Priorities are assigned based on the periods of the task.
1. Lower the period, higher the priority
2. As rate is the inverse of the period, higher the rate, higher the priority
2. It is a static priority algorithm (priorities are assigned to tasks during their compilation time)

Schedulability Test for RMA

To find the schedulability Test of RM algorithm

• the sufficient condition for schedulability test for RM is

• The necessary and sufficient condition for testing the schedulability test is

1. intresting solution, but i don't know what is means variable

2. ej = execution time of the jth task, Pj is the time period of the jth task, and t is the release time, as far as I think.

### Installing ns3 in Ubuntu 22.04 | Complete Instructions

In this post, we are going to see how to install ns-3.36.1 in Ubuntu 22.04. You can follow the video for complete details Tools used in this simulation: NS3 version ns-3.36.1  OS Used: Ubuntu 22.04 LTS Installation of NS3 (ns-3.36.1) There are some changes in the ns3 installation procedure and the dependencies. So open a terminal and issue the following commands Step 1:  Prerequisites \$ sudo apt update In the following packages, all the required dependencies are taken care and you can install all these packages for the complete use of ns3. \$ sudo apt install g++ python3 python3-dev pkg-config sqlite3 cmake python3-setuptools git qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools gir1.2-goocanvas-2.0 python3-gi python3-gi-cairo python3-pygraphviz gir1.2-gtk-3.0 ipython3 openmpi-bin openmpi-common openmpi-doc libopenmpi-dev autoconf cvs bzr unrar gsl-bin libgsl-dev libgslcblas0 wireshark tcpdump sqlite sqlite3 libsqlite3-dev  libxml2 libxml2-dev libc6-dev libc6-dev-i386 libclang-dev llvm-

### Installation of NS2 (ns-2.35) in Ubuntu 20.04

Installation of NS2 (ns-2.35) in Ubuntu 20.04 LTS Step 1: Install the basic libraries like      \$] sudo apt install build-essential autoconf automake libxmu-dev Step 2: install gcc-4.8 and g++-4.8 open the file using sudo mode \$] sudo nano /etc/apt/sources.list Include the following line deb http://in.archive.ubuntu.com/ubuntu bionic main universe \$] sudo apt update \$] sudo apt install gcc-4.8 g++-4.8 Step 3:  Unzip the ns2 packages to home folder \$] tar zxvf ns-allinone-2.35.tar.gz \$] cd ns-allinone-2.35/ns-2.35 Modify the following make files. ~ns-2.35/Makefile.in Change @CC@ to gcc-4.8 change @CXX@ to g++-4.8 ~nam-1.15/Makefile.in ~xgraph-12.2/Makefile.in ~otcl-1.14/Makefile.in Change in all places  @CC@ to gcc-4.8 @CPP@ or @CXX@ to g++-4.8 open the file: ~ns-2.35/linkstate/ls.h Change at the Line no 137  void eraseAll() { erase(baseMap::begin(), baseMap::end()); } to This void eraseAll() { this->erase(baseMap::begin(), baseMap::end()); } All changes made Step 4: Open a new termi

### Installation of NS2 in Ubuntu 22.04 | NS2 Tutorial 2

NS-2.35 installation in Ubuntu 22.04 This post shows how to install ns-2.35 in Ubuntu 22.04 Operating System Since ns-2.35 is too old, it needs the following packages gcc-4.8 g++-4.8 gawk and some more libraries Follow the video for more instructions So, here are the steps to install this software: To download and extract the ns2 software Download the software from the following link http://sourceforge.net/projects/nsnam/files/allinone/ns-allinone-2.35/ns-allinone-2.35.tar.gz/download Extract it to home folder and in my case its /home/pradeepkumar (I recommend to install it under your home folder) \$ tar zxvf ns-allinone-2.35.tar.gz or Right click over the file and click extract here and select the home folder. \$ sudo apt update \$ sudo apt install build-essential autoconf automake libxmu-dev gawk To install gcc-4.8 and g++-4.8 \$ sudo gedit /etc/apt/sources.list make an entry in the above file deb http://in.archive.ubuntu.com/ubuntu/ bionic main universe \$ sudo apt update Since, it&#