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
AODV - Part 2
Finding the node position, energy and speed of the node while it is forwarding a packet.
By default, these codes are not there in AODV, so we are going to modify or append in AODV protocol..
Steps
Step 1:
Open aodv.h and aodv.cc, these two files will be modified
Step 2:
Declare variables in aodv.h file in protected mode
double xpos,ypos,zpos,energy_t;
int n_speed;
MobileNode *t_node;
FILE *fp;
Step 3:
initialize these values inside the constrctor of aodv.cc file
xpos=ypos=zpos=0.0;
n_speed=0;
energy_t=0.0;
fp=fopen("runtime.dat","w");
Step 4:
add the following statements to the forward() function of aodv.cc
fprintf(fp,"Position is X, Y, Z, Node Speed,Energy\n");
t_node=(MobileNode*)(Node::get_node_by_address(index));
((MobileNode*) t_node)->getLoc(&xpos,&ypos,&zpos);
fprintf(fp,"%d %f %f %f",index,xpos,ypos,zpos);
t_node=(MobileNode*)(Node::get_node_by_address(index));
n_speed=((MobileNode*)t_node)->speed();
energy_t=t_node->energy_model()->energy();
fprintf(fp,"%d %d %f\n",index,n_speed,energy_t);
After the above step,
Step5:
recompile ns2 using the command
$] make
Step 6:
run a TCL File and check for the runtime.dat file in the same folder.
$] ns AODV.tcl
You will get a file called as runtime.dat in the same folder.
use the file for plotting any characteristics.
Thanks for watching.
Please share and subscribe to my Video channel.
More lectrures to come.
Youtube.com/tspradeepkumar
https://www.nsnam.com
T S Pradeep Kumar
Finding the node position, energy and speed of the node while it is forwarding a packet.
By default, these codes are not there in AODV, so we are going to modify or append in AODV protocol..
Steps
Step 1:
Open aodv.h and aodv.cc, these two files will be modified
Step 2:
Declare variables in aodv.h file in protected mode
double xpos,ypos,zpos,energy_t;
int n_speed;
MobileNode *t_node;
FILE *fp;
Step 3:
initialize these values inside the constrctor of aodv.cc file
xpos=ypos=zpos=0.0;
n_speed=0;
energy_t=0.0;
fp=fopen("runtime.dat","w");
Step 4:
add the following statements to the forward() function of aodv.cc
fprintf(fp,"Position is X, Y, Z, Node Speed,Energy\n");
t_node=(MobileNode*)(Node::get_node_by_address(index));
((MobileNode*) t_node)->getLoc(&xpos,&ypos,&zpos);
fprintf(fp,"%d %f %f %f",index,xpos,ypos,zpos);
t_node=(MobileNode*)(Node::get_node_by_address(index));
n_speed=((MobileNode*)t_node)->speed();
energy_t=t_node->energy_model()->energy();
fprintf(fp,"%d %d %f\n",index,n_speed,energy_t);
After the above step,
Step5:
recompile ns2 using the command
$] make
Step 6:
run a TCL File and check for the runtime.dat file in the same folder.
$] ns AODV.tcl
You will get a file called as runtime.dat in the same folder.
use the file for plotting any characteristics.
Thanks for watching.
Please share and subscribe to my Video channel.
More lectrures to come.
Youtube.com/tspradeepkumar
https://www.nsnam.com
T S Pradeep Kumar
Cannot find runtime.dat
ReplyDeleteI followed as per your instructions .But I didn't get the values of nodes position and energy from in the same folder where created the AODV.tcl file. when I run AODV.tcl file only get the the nam visualization
ReplyDeletePlease hep me.
I am not getting your AODV.tcl file
ReplyDeleteHow could I pass those values from node to neighbor node along with the RREQ/RREP packet?
ReplyDeletehello sir, i wanna modify MPR selection based on energy consumption. would you help where to do the modification in the OLSR. thank you. please mail me kasyekas2@gmail.com
ReplyDeleteSir,
ReplyDeleteWhile executing the tcl script for find the energy of the nodes. The runtime.dat is not getting created in the folder sir.
I am using Ubuntu 18.04, So please do suggest me sir.
Sir, I like your videos all you have posted, on this video i didn't get the AODV.tcl file, where I get it? please send me with this address tibebulegesse23@gmail.com
ReplyDeleteHello sir, thanks for your briefly explained tutorial it helps me to know about ns2 simulator as a whole. but when i download your source code of lecture 10 tspagent.cc and myown.tce i get the error.
ReplyDelete$ns myown.tcl
The error says
warning: no class variable Agent/PRADEEP::Temperature
see tcl-object.tcl in tclcl for info about this warning.
warning: no class variable Agent/PRADEEP::Magnetometer
ns: puts"message from temperature sensor" : invalid command name "puts"message"
while executing
"puts"message from temperature sensor" "
warning: no class variable Agent/PRADEEP::Temperature
ReplyDeletesee tcl-object.tcl in tclcl for info about this warning.
warning: no class variable Agent/PRADEEP::Magnetometer
ns: puts"message from temperature sensor" : invalid command name "puts"message"
while executing
"puts"message from temperature sensor" "