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 help you to understand the automatic TCL code generation for creating connections between the nodes, to create hops, generates tcp or cbr agents, etc. There are two things are used: setdest and cbrgen.tcl setdest is used to Create hops between the nodes using the GOD (General Operations Director) object. Create mobility for nodes in terms of metres/second Move from one place to another place using setdest (Set destination) with speed To execute, use ./setdest Example of Setdest is $] cd /home/pradeepkumar/ns-allinone-2.35/ns-2.35/indep-utils/cmu-scen-gen/setdest $] ./setdest -v 2 -n 10 -s 1 -m 10 -M 50 -t 30 -P 1 -p 1 -x 500 -y 500 > usersetdest.tcl The above output is redirected to usersetdest.tcl cbrgen.tcl create connections between the nodes , one can specify the maximum number of connections to be made for all the nodes in the network to create the type of agents between the nodes (cbr or tcp) rate at which the packets are transm