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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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VANET SImulator in Fedora 19 (32 bit) - SUMO and MOVE

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Simulation of Urban Mobility (SUMO) along with MOVE is a software that helps in simulating  the VANETs.
SUMO is the software that does the mobility of nodes, edges, etc from the MOVE software.
Installation of SUMO and MOVE in Linux is always a challenging job.

This post tells the installation of both these softwares SUMO and MOVE

Installation of SUMO

  • In my case, I have used Fedora 19 (32 bit) OS. There are many problems in 64 bit version of Fedora 19, but 32 bit OS uses perfectly.
  • Execute the command one by one.
  • sudo yum update
  • sudo yum install perl libFOX-1.6.so.0  libGLU.so.1 libgdal.so.1 libproj.so.0 libxerces-c-3.1.so (this will install almost 30 MB of softwares downloaded from the internet)
Fedora 19
Fedora 19

  • Download the sumo software from http://download.opensuse.org/repositories/home:/behrisch/Fedora_19/i686/
  • there will be SVN versions and source files, but you can download ,  sumo-0.18.0-2.3.i686.rpm
  •  Once downloaded, open the terminal and give this command to install SUMO
  • sudo rpm -ivh  sumo-0.18.0-2.3.i686.rpm (this will install the SUMO Software without any errors)
See the Screen shot below
SUMO for VANET
SUMO for VANET


MOVE Installation

  • Download the MOVE Software from this link http://lens1.csie.ncku.edu.tw/MOVE/download.php (you may fill your particulars to download the software)
  • Once downloaded, execute this command in terminal to run the .jar file 
  • java -Xmx512m -jar MOVE.jar 
  • (this assumes that java is already there). For running MOVE.jar file, javac is not needed, just the java runtime environment is enough to run. Fedora 19 comes default installation of Java Run Time environment. 
  • Here is the screenshot after running the MOVE.jar file

MOVE VAnet
MOVE Software in Fedora


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