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
Installation of NS2 (ns-2.35) in Ubuntu 20.04 LTS
Step 1: Install the basic libraries like
$] sudo apt install build-essential autoconf automake libxmu-dev
Step 2: install gcc-4.8 and g++-4.8
open the file using sudo mode
$] sudo nano /etc/apt/sources.list
Include the following line
deb http://in.archive.ubuntu.com/ubuntu bionic main universe
$] sudo apt update
$] sudo apt install gcc-4.8 g++-4.8
Step 3:
Unzip the ns2 packages to home folder
$] tar zxvf ns-allinone-2.35.tar.gz
$] cd ns-allinone-2.35/ns-2.35
Modify the following make files.
~ns-2.35/Makefile.in
Change @CC@ to gcc-4.8
change @CXX@ to g++-4.8
~nam-1.15/Makefile.in
~xgraph-12.2/Makefile.in
~otcl-1.14/Makefile.in
Change in all places
@CC@ to gcc-4.8
@CPP@ or @CXX@ to g++-4.8
open the file:
~ns-2.35/linkstate/ls.h
Change at the Line no 137
void eraseAll() { erase(baseMap::begin(), baseMap::end()); }
to This
void eraseAll() { this->erase(baseMap::begin(), baseMap::end()); }
All changes made
Step 4: Open a new terminal
$] cd ns-allinone-2.35/
$] ./install
Step 5 - Set the PATH
Open a new Terminal,
$] gedit .bashrc
Paste the following lines
export PATH=$PATH:/home/<yourusername>/ns-allinone-2.35/bin:/home/<yourusername>/ns-allinone-2.35/tcl8.5.10/unix:/home/<yourusername>/ns-allinone-2.35/tk8.5.10/unix
export LD_LIBRARY_PATH=/home/<yourusername>/ns-allinone-2.35/otcl-1.14:/home/<yourusername>/ns-allinone-2.35/lib
Logout and Login back
OR
$] source .bashrc
Thanks for watching, Subscribe and Share it to your friends...
Hello Eng., I seen your video about wireless network and its very clear and very good. But, I ask you if you have a mobile recovery TCL code help me to implement an algorithm by Ns2. Thank you for help in advance.
ReplyDeleteThsank you..
DeleteSir please help me. I am installing to xgraph but getting a problem again and again like this zac@zac-OptiPlex-9010:~/ns2/ns-allinone-2.35/xgraph-12.2$ sudo apt-get install xgraph
ReplyDeleteReading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package xgraph.
How to solve this? Please give me your valuable solution.
how do i install xgraph sir, you mentioned about there is a video about install xgraph in your youtube library but i could not find any. Kindly help
ReplyDeletePlease find the video here.
Deletehttps://www.youtube.com/watch?v=G2pIxQOTdos
sir
Deletei have contacted you through mail regarding project. can you plz reply
DeleteHello Sir...
ReplyDeleteI have completed step2 successfully and i got a message like g++-4.8 is already the newest version (4.8.5-4ubuntu8).
gcc-4.8 is already the newest version (4.8.5-4ubuntu8).
The following packages were automatically installed and are no longer required:
linux-headers-5.4.0-42 linux-headers-5.4.0-42-generic
linux-image-5.4.0-42-generic linux-modules-5.4.0-42-generic
linux-modules-extra-5.4.0-42-generic
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
But if I use gcc- command to check whether gcc-4.8 is installed or not, it is showing like ommand 'gcc-' not found, did you mean:
command 'gcc-8' from deb gcc-8 (8.4.0-3ubuntu2)
command 'gcc-9' from deb gcc-9 (9.3.0-10ubuntu2)
command 'gcc' from deb gcc (4:9.3.0-1ubuntu2)
command 'gcc-7' from deb gcc-7 (7.5.0-6ubuntu2)
Try: sudo apt install
I am Stuck in this step please help me out.
Thanks in advance
I faced the same problem check using the command "gcc-4.8 --version" and also grep using command 'dpkg -l|grep gcc' and you should be able to find it . hope this helps
Deleteplease do the following steps
Delete$] sudo nano /etc/apt/sources.list
Include the following line
deb http://in.archive.ubuntu.com/ubuntu bionic main universe
$] sudo apt update
$] sudo apt install gcc-4.8 g++-4.8
for NS2.35 you can use gcc and g++ version up to 5.4
if 4.8 isn't working try installing gcc-5 and g++5. then at the step where you modify the Makefile.in , use gcc-5 instead of gcc-4.8 and so on
u dont have to press enter... just enter "gcc-" and press "tab" button on keyboard... U will get all the options
Deletehttps://unix.stackexchange.com/questions/224716/perl-library-getopts-pl
ReplyDeleteTry this for those who are getting some weird Can't locate getopts.pl error
May I get ECC on NS2 simulation?
ReplyDeleteim getting error on the first step sudo apt install build-essential autoconf automake libxmu-dev
ReplyDeleteit says unable to locate package build-essential
Hello sir After doing step 4 installation I got this dire tory not found can u help me to solve this
ReplyDeleteSir I installed gcc-4.8 and g++-4.8 successfully
ReplyDeleteExtracted ns-2.34
Changes made in Makefile.in of otcl, nam, xgraph.
But while doing listsource/ls.h
And changing line 137
And installing it is showing
make: ***[Makefile:94: mdart/mdart_adp.o] error 1
Sir please help me out
I stocked at this step.
hello sir,
ReplyDeleteI want to run NS2 in Ubuntu 22.04. I follow all the steps that you were mentioned above. There were no error while installingNS2. The NS2 command is run properly, but when i run nam it will show the error :- "nam: error while loading shared libraries: libXext.so.6: cannot open shared object file: No such file or directory"
After doing all things properly , starting ./install in nsallinone 2.35 directory.....Getting error of tcl can't be installed makefile error.....Could you please help me out....I am doing everything right but not able to install trying it from 2 days...
ReplyDeleteCommand 'ns' not found, but can be installed with:
ReplyDeletesudo apt install ns2
I followed the steps carefully but when I checked by command the terminal reply me [install by----- sudo apt get ns2] but nam is working here ....
but when I run sudo apt get install ns2 then it shows working by checking ns & enter in the terminal...... here I am confused that from where the DSR protocol is working unzipped installed or by command installed ns2 ....
I want to modify the DSR protocol ... where I can implement my modification?