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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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Wireless Node Configuration in Network Simulator 2 (NS2)

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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 Channel to be used
mobileIP ON,OFF to set the IP for Mobile or not
energyModel EnergyModel energy model to be enabled or not
initialEnergy <joule> in terms of joules (Ex: 3.24)
txPower   Power in terms of Watts (0.32)
rxPower   Power in terms of Watts (0.1)
idlePower   Power in terms of Watts (0.02)
agentTrace ON, OFF Tracing to be on or off
routerTrace ON, OFF Tracing to be on or off
macTrace ON, OFF Tracing to be on or off
movementTrace ON, OFF Tracing to be on or off
errProc UniformErrorProc  
toraDebug ON, OFF  

 

An Example

$ns node-config -addressType hierarchical \
                   -adhocRouting AODV \
                   -llType LL \
                   -macType Mac/802_11 \
                   -ifqType Queue/DropTail/PriQueue \
                   -ifqLen 50 \
                   -antType Antenna/OmniAntenna \
                   -propType Propagation/TwoRayGround \
                   -phyType Phy/WirelessPhy \
                   -topologyInstance \$topo \
                   -channel Channel/WirelessChannel \
                   -agentTrace ON \
                   -routerTrace ON \
                   -macTrace OFF \
                   -movementTrace OFF
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Comments

  1. UnknownNovember 8, 2012 at 7:27 PM

    Dear all , who can help me for design network , and node configuration , and how can select tx power and rxpower??whats level for tx power and rxpower??

    thanks

    ReplyDelete
    Replies
    1. AnonymousFebruary 23, 2013 at 8:10 PM

      dear i am also facing such problem...if u got then plz mail me on mohit.roorkee@gmail.com

      Delete
    2. T S Pradeep KumarFebruary 23, 2013 at 10:44 PM

      depending on the type of network, you can set the power. for WSN, you can get the power history of a IRIS or MICA and set the corresponding values, for a wifi network, set power based on the battery profile of the device.....

      Delete
  2. ShitalDecember 18, 2012 at 11:59 AM

    I am facing error,

    segmentation fault(core dumped)

    Please help me..

    ReplyDelete
    Replies
    1. UnknownJanuary 24, 2013 at 10:34 PM

      simply change energy value like if using 70 try for 90,100......

      Delete
  3. UnknownMarch 7, 2013 at 10:52 AM

    Hi all, Can you suggest me how to fill buffer(queue) of intermediate nodes in ns2 through tcl script. ??

    ReplyDelete

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