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 shows you the method to install the LEACH protocol developed by MIT called MIT-uAMPS which was developed in the year 2000. So you may face some problem in installing this protocol in recent Operating Systems. I have tried to compile this protocol in ns-2.35 which was running under Ubuntu 14.04 64 bit OS Here is the requirement before you proceed to install. Assumptions: Assuming that you have successfully installed ns-2.35 before you start compiling LEACH. If you need any help in installing ns2, refer this post. http://www.nsnam.com/2014/11/ns2-installation-in-ubuntu-1404.html Install gcc-4.4 and g++-4.4 for compiling this LEACH (but the recommended is gcc-4.3 but it is not there in the synaptic package manager) To install the above, first you tries these packages sudo apt-get update sudo apt-get install build-essential autoconf automake libxmu-dev gcc-4.4 g++-4.4 After installing these packages, download the mit-leach-patch here. Please see the video f