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
The node configuration in ns2 is a special task in which the number of nodes can be configured for a set of parameters. The following table tells about the node configuration parameters as defined in the ns-lib.tcl The readers are requested to refer the ns-lib.tcl file for more information. Option Available Values Remarks addressType flat, hierarchichal MPLS ON,OFF Multi protocol Label Switching wiredRouting ON, OFF llType LL, LL/Sat Link Layer macType Mac/802_11, Mac/Csma/Ca, Mac/Sat, Mac/Sat/UnslottedAloha, Mac/Tdma Medium Access Control ifqType Queue/DropTail, Queue/DropTail/PriQueue Interface Queue type phyType Phy/wirelessPhy, Phy/Sat Physical Layer Type adhocRouting DIFFUSION/RATE, DIFFUSION/PROB, DSDV, DSR, FLOODING, OMNIMCAST,AODV,TORA,PUMA adhoc routing protocol propType Propagation/TwoRayGround, Propagation/Shadowing Propagation Type antType Antenna/OmniAntenna, Antenna type Channel Channel/WirelessChannel, Channel/Sat C