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 is helpful for you to find out the receiving threshold values of various propagation models for certain communication distance.
By default, ns2 uses a distance of 1.5m (the antenna is just placed 1.5m above the node ground). Suppose if someone needs to calculate the factor when the distance of the antenna is placed 10m above the ground, then the default value changes.
NS2 has an inbuilt mechanism to calculate the distance for certain communication range using the threshold.cc file in ~ns-2.35/indep-utils/propagation/
The file is not having any OTcl linkages, its a conventional C++ file that can be compiled using the command g++
Before compiling the file, there are some changes in the threshold.cc file.
1. Change the #include<iostream.h> to #include <iostream>
2. Include the following two lines
#include <string.h>
using namespace std;
Once the changes are made, compile the file using the command
g++ -o threshold threshold.cc
(The above command compiles and links the object to the file threshold, so you can execute the threshold file using the command)
prompt $] ./threshold
prompt $] ./threshold -m TwoRayGround distance 1.5
Here is the output of the above command
distance = 1.7
propagation model: TwoRayGround
Selected parameters:
transmit power: 0.281838
frequency: 9.14e+08
transmit antenna gain: 1
receive antenna gain: 1
system loss: 1
transmit antenna height: 1.5
receive antenna height: 1.5
Receiving threshold RXThresh_ is: 6.65323e-05
T S Pradeep Kumar
By default, ns2 uses a distance of 1.5m (the antenna is just placed 1.5m above the node ground). Suppose if someone needs to calculate the factor when the distance of the antenna is placed 10m above the ground, then the default value changes.
NS2 has an inbuilt mechanism to calculate the distance for certain communication range using the threshold.cc file in ~ns-2.35/indep-utils/propagation/
The file is not having any OTcl linkages, its a conventional C++ file that can be compiled using the command g++
Before compiling the file, there are some changes in the threshold.cc file.
1. Change the #include<iostream.h> to #include <iostream>
2. Include the following two lines
#include <string.h>
using namespace std;
Once the changes are made, compile the file using the command
g++ -o threshold threshold.cc
(The above command compiles and links the object to the file threshold, so you can execute the threshold file using the command)
prompt $] ./threshold
prompt $] ./threshold -m TwoRayGround distance 1.5
Here is the output of the above command
distance = 1.7
propagation model: TwoRayGround
Selected parameters:
transmit power: 0.281838
frequency: 9.14e+08
transmit antenna gain: 1
receive antenna gain: 1
system loss: 1
transmit antenna height: 1.5
receive antenna height: 1.5
Receiving threshold RXThresh_ is: 6.65323e-05
 |
| Printing distance parameters for propagation models. |
For complete instructions, See this video
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