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
This post will tell the installation steps for NS2 under Ubuntu 13.10.
Step 1: Download NS2 package (ns-allinone-2.35)
Step 2: Copy the file to /home/pradeep folder (you can use your corresponding home path).
Step 3: Open the terminal and execute the commands one by one
Copy the PATH and LD_LIBRARY_PATH information in to your variable, you may use the /home/pradeep/.bashrc file and copy and paste the PATH and LD_LIBRARY_PATH as shown below.
type ns or nam in the terminal to check whether it is working or not.
Step 1: Download NS2 package (ns-allinone-2.35)
Step 2: Copy the file to /home/pradeep folder (you can use your corresponding home path).
Step 3: Open the terminal and execute the commands one by one
- Prompt:- sudo apt-get install build-essential autoconf automake libxmu-dev (all these packages may not be needed, but install all the above for a safer installation of ns2)
- Prompt:- tar zxvf ns-allinone-2.35.tar.gz
- Prompt:- cd ns-allinone-2.35
- Open the file (~ns-2.35/linkstate/ls.h) using gedit or vi or vim and in line number 137 and change the following line
void eraseAll() { erase(baseMap::begin(), baseMap::end()); }
to
void eraseAll() { this->erase(baseMap::begin(), baseMap::end()); } - Prompt:- ./install
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| ns2.35 on ubuntu |
Once the installation is completed you may see the screen like the image given below.
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| PATH information in Ubuntu |
For ns, a % symbol indicates the successful installation of NS2
for nam, an animator window will be popping out which indicates the sucessfull installation of NAM.
Thats it: Try yourself to install and let you comment below for the successful installation
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