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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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NS2 Visual trace analyzer

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A Visual trace analyzer is been developed by Mr. Fernando and you can download freely from his website http://nsvisualtraceanalyzer.wordpress.com/ This software is been developed using
  • .NET C# 4.0
  • This software will run only in windows and not tested in Wine platform of Linux (May be will work)
This software accepts a tcl, trace files, scenario files and interprets the contents and displays results like throughput,data, etc.
Also there is a provision for graphing too.. Its a very great handy tool for NS2 (particularly beginners to researchers)..
Here are some of the screen shots of the software
Open a Tcl File and shows the second picture as shown in the next picture.
 In the following pic, the tcp packet flow is selected and a window pops out with various results.
Iin the following picture, the right side of the window is not used and the cross X indicates it is not used now, may be in future that area will be used.
And this picture tells you the throughput of a gives network.


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  1. AnonymousFebruary 22, 2013 at 9:15 PM

    Sir, i am a new comer in scripting field and i need a script to do some calculation on the below given file data ....... please help me to write a shell script file based on the below file... it look like this.......

    c1 c2 c3 c4 c5
    s 0.398589568 _1_ MAC 0 (request send)
    s 0.513566459 _4_ MAC 0
    s 0.552966970 _0_ MAC 0
    s 0.787311440 _3_ MAC 0
    s 0.877323712 _2_ MAC 0
    s 46.46441059 _1_ MAC 0 (re-request send)
    s 47.59068956 _0_ MAC 0
    s 47.90057161 _0_ MAC 0
    s 47.98677431 _0_ MAC 0
    s 48.96975450 _0_ MAC 0
    s 48.9869547 _1_ MAC 0 (re-request send)
    r 49.0457547 _0_ MAC 1 (received request)
    s 50.058781511 _0_ MAC 0
    s 56.459210991 _3_ MAC 0
    s 66.986774311 _1_ MAC 0 (acknowledge send)
    s 67.020641218 _2_ MAC 6
    r 67.09610788 _1_ MAC 0 (acknowledge receive )
    s 68.073182951 _0_ MAC 0

    i want to write a script to which will help me to extract
    A) the maximum and minimum value of c2 when c1=s, c3=_1_ and c5=0.
    B) the minimum value of c2 when c1=r, c3=_0_ and c5=1.

    i want to do the delay calculation between two nodes... description of formula...
    node say n1(in my table it is _1_) send a request and time isT1... node n2 (in my table it is _0_) receive a request at time T2 and reply with an acknowledgement at time T3. the node n1 receive the ack packet at T4 time.
    Tint= T3-T2........
    formula is ------- (T4-T1-Tint)/2
    i will be highly grateful if anyone kindly do this to me. Hoping for reply me very soon. have a good day. Thanks.

    ReplyDelete
  2. UnknownNovember 18, 2019 at 8:14 PM

    i have install ubuntu on virtual box. can i install ns2 trace visualizer on virtual box? if yes how? please guide me. thanks

    ReplyDelete

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