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
Xgraph is an X-Windows application that includes: interactive plotting and graphing animation and deritives portability and bug fixes So to plot the characteristics of NS2 parameters like throughput, end to end delay, packets information, etc can be plotted using xgraph The successful installation of NS2 will install xgraph also along with it. To run xgraph from a shell prompt: # xgraph filename.xg inside TCL scripts, xgraph can be written like this exec xgraph filename.xg -geometry 500x500 if there are more xgraph files then, exec xgraph filename1.xg -geometry 500x500 & exec xgraph filename2.xg -geometry 500x500 & The ambersand is mandatory to popup all the graph windows, if & (ambersand) is not there, then only the last xgraph window will be popped up. Sample xgraph file and its contents /*** The xgraph file shows the information about the overhead with size of the network, Overhead is compared with four routing protocols like AODV, DSR, DSDV and NEAODV (my own algorit