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

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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
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Wireshark in User Mode

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If you are running Ubuntu or Linux Mint, the wireshark may not list all the interfaces except bluetooth. There is a small workaround for enabling all the interfaces within wireshark

To install wireshark
$ sudo apt install wireshark

Checking for all the interfaces
$] ifconfig -a 
eth0      Link encap:Ethernet  HWaddr b4:b5:2f:90:41:98  
          UP BROADCAST MULTICAST  MTU:1500  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

 lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:5528 errors:0 dropped:0 overruns:0 frame:0
          TX packets:5528 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:0 
          RX bytes:522095 (522.0 KB)  TX bytes:522095 (522.0 KB)

 wlan0     Link encap:Ethernet  HWaddr 68:17:29:15:7f:9d  
          inet addr:192.168.0.103  Bcast:192.168.0.255  Mask:255.255.255.0
          inet6 addr: fe80::6a17:29ff:fe15:7f9d/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:487713 errors:0 dropped:0 overruns:0 frame:0
          TX packets:336698 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:591668376 (591.6 MB)  TX bytes:41118839 (41.1 MB)

 To check the interfaces shown by the dumpcap

 $] dumpcap -D -M (following line is the output)
1. bluetooth0 4 network

Enable the following commands in linux to make it work.
$] sudo groupadd wireshark
$] sudo usermod -a -G wireshark $USER
$] sudo chgrp wireshark /usr/bin/dumpcap
$] sudo setcap cap_net_raw,cap_net_admin=eip /usr/bin/dumpcap
$] dumpcap -D -M (following is the output)
dumpcap
dumpcap

T S Pradeep Kumar
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