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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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Mannasim–A sensor Network Simulator for NS2 (ns-2.35)

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Mannasim is a third party tool for simulating the Wireless sensor networks with carbon monoxide sensor and some other sensors etc. It was developed for ns2.29 version and based on the internet users the mannasim was been installed on ns-2.34 also.
There are patches available to download for versions 2.29 and ns-2.34. But over these two years since the launch on ns-2.35, there are so many queries whether these tools are ready for ns-2.35, here is the answer for that.
The source code and other information has been taken from these sites.
http://www.mannasim.dcc.ufmg.br/
Installation of Mannasim in ns-2.35
For mannasim to be installed, here are the following files need to be modified.
Click the link to download the Mannasim.tar.gz file for ns-2.35
https://drive.google.com/drive/folders/0B4nUSbTYSK4TRWJfanYxWEFCcXM?usp=sharing 

The tar file contains a folder mannasim
Paste the entire folder inside the ~ns-2.35/ folder
and
inside the mannasim/ folder (there will be a ns-modified-folder/ that contains set of files to be pasted to different location)
mannasim
Copy the files from the ns-modified-files/ to these locations
ns-allinone-2.35/ns-2.35/apps/udp.cc
ns-allinone-2.35/ns-2.35/common/ns-process.h
ns-allinone-2.35/ns-2.35/common/packet.cc
ns-allinone-2.35/ns-2.35/common/packet.h
ns-allinone-2.35/ns-2.35/Makefile.in
ns-allinone-2.35/ns-2.35/tcl/lib/ns-default.tcl
ns-allinone-2.35/ns-2.35/tcl/lib/ns-lib.tcl
Once everything is done, go to the terminal and type the commands one by one
./configure
make
If there are any errors, correct the errors (as per my OS, I used Linux Mint 15 64 bit, so no errors encountered)
Once the simulation is done, test the sensors using these following files
https://dl.dropboxusercontent.com/u/24623828/mannasim/mannasim-rede-plana.tcl
https://dl.dropboxusercontent.com/u/24623828/mannasim/mannasim-rede-hierarquica.tcl
run these files using
ns mannasim-rede-plana.tcl
ns mannasim-rede-hierarquica.tcl
Please see the video for further details.
Installation of Mannasim in ns-2.35
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Comments

  1. AnonymousMarch 12, 2015 at 10:22 AM

    hello sir,
    i have tried all the steps as you have explained. but in the last when i run make command it shows me a error message make: * * * [ns] Error 1

    ReplyDelete

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