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

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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
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Tracegraph installation in Fedora 12

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To Install Tracegraph in Fedora Linux (I used Fedora 12)

  1. Step download the Tracegraph software from this link
  2. You need to download two files, mglinstaller.gz and tracegraph202.tar.gz
  3. Copy the files under /home/pradeep/ (in my case it is /home/pradeep/)
  4. Untar the tracegraph202.tar.gz using the command tar zxvf tracegraph202.tar.gz
  5. A Folder tracegraph202/ will be created and go to the folder using the command cd tracegraph202 or cd /home/pradeep/tracegraph202
  6. copy the mglinstaller.gz file inside the tracegraph202/ folder
  7. now execute the command to unzip the mglinstaller.gz using the following command gzip -d mglinstaller.gz
  8. Run the mglinstaller by executing the command ./mglinstaller (see the . in the beginning)
  9. The above command will create a folder within the bin folder and set the following lines to the LD_LIBRARY_PATH variable export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/pradeep/tracegraph202/bin/glnx86
  10. The above path will be set to the LD_LIBRARY_PATH Variable in the following file .bashrc which will be available at /home/pradeep (each username will have such a file in the corresponding folder, if you are using more number of users, each user should be set with the LD_LIBRARY_PATH, root will be having the .bash_profile at /root/.bashrc).
  11. To open this file type either vi /home/pradeep/.bashrc or gedit /home/pradeep/.bashrc and include the line of code given in step 10.
  12. Save the file, close and logout and login and go to the tracegraph202 folder and run ./trgraph (thats it!!!!)
  13. After step 13, some Linux versions will get an error called libXp.so.6 error, to overcome that give this command by connecting your machine to internet yum install libXp.so.6 or else download the package XFree86-libs-4.1.0-50.i386.rpm from the website http://rpm2html.osmirror.nl/redhat-archive/updates/7.1/en/os/i386/XFree86-libs-4.1.0-50.i386.html   and then install the package by giving rpm -ivh  XFree86-libs-4.1.0-50.i386.rpm and thats it.
    14. (NB: My username in my System is /home/pradeep/, so all the above steps will be working for me, if your system contains other usernames, then please updated that and add to the paths) all the Best!!!!!!!!!
    (For better results, see the Video given below)

Tracegraph Installation in Fedora 12

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  1. Aminul Islam TanvinMarch 4, 2020 at 12:18 PM

    In ubuntu 18.04 it showes libXp.so.6 error. How to sove this?
    thank you

    ReplyDelete

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