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
Adding a malicious node is ns2 using aodv protocol. The node which is declared as malicious will simply drop the router packet (DROP_RTR_ROUTE_LOOP). Two files have to be modified. 1. aodv.h 2. aodv.cc aodv.h file changes Declare a boolean variable malicious as shown below in the protected scope in the class AODV bool malicious; aodv.cc file changes 1. Initialize the malicious varible with a value "false". Declare it inside the constructor as shown below AODV::AODV(nsaddr_t id):Agent(PT_AODV)... { ....... malicious = false; } 2. Add the following statement to the aodv.cc file in the "if(argc==2)" statment. if(strcmp(argv[1], "malicious") == 0) { malicious = true; return TCL_OK; } 3. Implement the behavior of the malicious node by setting the following code in the rt_resolve(Packet *p) function. The malicious node will simply drop the packet as indicated below. if(malicious==true) { drop(p,DROP_RTR_ROUTE_LOOP); } Onc