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
SUMO is the Simulation of Urban mobility software that enables to simulate the road traffic. Open Street map ( www.openstreetmap.org ) provides the xml based .osm file for any part of the world selected through their website. #openstreetmap #SUMO can able to convert the osm file to its native xml file. The post tells you the simulation of a real traffic network and how it is ported to #ns2 for network animation and tracing. Step 1: Prerequisites SUMO to be installed - in my case I installed sumo this way sudo add-apt-repository pap:sumo/stable sudo apt-get update sudo apt-get install sumo sumo-doc sumo-tools Also, Download the sumo source sumo-src-0.26.tar.gz from this link and unzip or untar it to the home directory ( /home/pradeepkumar ). There are some python files that are needed to generate random trips and to export xml files to tcl files. the commands sumo, sumo-gui will run only the graphical simulation. Once the software is unzipped, set the SUMO_HOME