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Simulation of URDF, Gazebo and Rviz | ROS Noetic Tutorial 8

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 in NS2 in AODV Protocol

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);
}

Once done, recompile ns2 as given below
Open Terminal -> Go to ~ns-2.35/ directory and type the command make to compile
$] cd /home/pradeep/ns-allinone-2.35/ns-2.35/
$] make

Once the compilation is done, Check the malicious behavior using the Tcl Script by setting any one node as malicious node. The command to set the malicious node is
$ns at 0.0 "[$n2 set ragent_] malicious"
The variable referred for node2 is n2 (set n2 [$ns node])

Result Analysis of Malicious Node behavior
The results of the above algorithm is analysed using tracegraph. For a given network, the malicious behavior is set.
You can download the entire files here.
1. Copy the aodv.h and aodv.cc file in the ~ns-2.35/aodv/ directory
2. Download the Tcl files for malicious and non malicious
See this post: http://www.nsnam.com/2013/10/tracegraph-installation-in-ubuntu-1310.html
Here is the screenshot shown from the tracegraph
non malicious
Non Malicious simulation

malicious
Malicious behavior
Here is the text info for the above graph:
Non Malicious
Number of generated packets: 8493
Number of sent packets: 8493
Number of forwarded packets: 0
Number of received packets: 8401
Number of dropped packets: 4
Number of lost packets: 0
Number of sent bytes: 461918
Number of forwarded bytes: 0
Number of received bytes: 2435044
Number of dropped bytes: 164
Minimal packet size: 28
Maximal packet size: 1040

Average packet size: 171.4787

Malicious
Simulation length in seconds: 21.052766
Number of nodes: 2
Number of sending nodes: 2
Number of receiving nodes: 2
Number of generated packets: 67
Number of sent packets: 54
Number of forwarded packets: 0
Number of dropped packets: 16
Number of lost packets: 0
Minimal packet size: 0
Maximal packet size: 1098
Average packet size: 125.76
Number of sent bytes: 8102
Number of forwarded bytes: 0
Number of dropped bytes: 480
Packets dropping nodes: 1

It is clear from the results that malicious is simply dropping the packet, though it generates packet and are not sent.
This post is a reproduction from www.elmurod.net with added result analysis

T S Pradeep Kumar

Comments

  1. I followed the above procedure. It shows the below mentioned error, Kindly help us to resolve it.
    root@sriramachandran-Inspiron-N4050:/home/sriramachandran/ns-allinone-2.35/ns-2.35/tcl/ex# ns malicious.tcl
    num_nodes is set 7
    warning: Please use -channel as shown in tcl/ex/wireless-mitf.tcl
    INITIALIZE THE LIST xListHead
    channel.cc:sendUp - Calc highestAntennaZ_ and distCST_
    highestAntennaZ_ = 1.5, distCST_ = 550.0
    SORTING LISTS ...DONE!
    ns: _o127 malicious:
    (_o127 cmd line 1)
    invoked from within
    "_o127 cmd malicious"
    invoked from within
    "catch "$self cmd $args" ret"
    invoked from within
    "if [catch "$self cmd $args" ret] {
    set cls [$self info class]
    global errorInfo
    set savedInfo $errorInfo
    error "error when calling class $cls: $args" $..."
    (procedure "_o127" line 2)
    (SplitObject unknown line 2)
    invoked from within
    "_o127 malicious"

    ReplyDelete
  2. i tried flooding attack\and i cant see it is flooding??? plzz help meee

    ReplyDelete
  3. hello sir!
    I am doing my graduation work!
    But your download link for tcl is disable,could u help me ?

    ReplyDelete

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