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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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Installation of Network Simulator 2 (NS-2.35) in Linux Mint 14 (16bit)

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The following video and the how to instructions will tell you how you can install ns-2.35 in Linux mint 14 (64 bit) edition.

  • Step 1: This video shows you the demonstration of ns2 in Linux Mint 14 (64Bit) OS
  • Step 2: issue this command in the terminal "sudo apt-get install build-essential autoconf automake libxmu-dev" (without Quotes)
  • Step 3: if you have Ubuntu issue this command first before u try step 2 : "sudo apt-get update"
  • Step 4: Once installation succeeded, start the process of installing ns2
  • Step 5: copy the ns-allinone-2.3x.tar.gz in the home folder, in my case it is /home/pradeep
  • Step 6: go to home folder and execute this command "tar zxvf ns-allinone-2.35.tar.gz"
  • step 7: cd ns-allinone-2.35 and ./install (after these commands, wait for the successful installation), it may take 5 min to 15 minutes based on the
    speed of your computer.
  • Step 8: there may be errors shown, in case if errors, the errors should be corrected and reissue the command ./install
  • step 9: There is an error on ns-2.35/linkstate/ls.h file, so the error has to be corrected as pointed out in the video,
    In line number 137, change erase to this->erase
  • Step 10: Once installation is succeeded, you will get some path information
    Step 11: set the paths in the .profile file which is under the home directory (/home/pradeep/.profile)
  • as specified in the video, copy the PATH url and LD_LIBRARY_PATH URL and paste in the .profile file.
  • Step 12: Once the path information is set, run the command to test the path "source /home/pradeep/.profile) and see there should not be any errors
    Step 16: try ns and nam individually and see whether they are working
    when you type ns and type enter a % symbol indicates the installation is successful
    when you type nam and a network animation window pop up.
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