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
NS-2.35 installation in Ubuntu 22.04
This post shows how to install ns-2.35 in Ubuntu 22.04 Operating System
Since ns-2.35 is too old, it needs the following packages
gcc-4.8
g++-4.8
gawk
and some more libraries
Follow the video for more instructions
So, here are the steps to install this software:
To download and extract the ns2 software
Download the software from the following link
Extract it to home folder and in my case its /home/pradeepkumar (I recommend to install it under your home folder)
$ tar zxvf ns-allinone-2.35.tar.gz
or Right click over the file and click extract here and select the home folder.
$ sudo apt update
$ sudo apt install build-essential autoconf automake libxmu-dev gawk
To install gcc-4.8 and g++-4.8
$ sudo gedit /etc/apt/sources.list
make an entry in the above file
Since, it's ubuntu 22.04, you may get an error called GPG Error with a code like this "3B4FE6ACC0B21F32"
In case you get the GPG error, include the following command
$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 3B4FE6ACC0B21F32
$ sudo apt update
$ sudo apt install gcc-4.8 g++-4.8
Make the changes in the following files
@CC@ to be replaced with gcc-4.8
@CPP@ to be replaced with g++-4.8
ns-allinone-2.35/Makefile.in
/home/pradeepkumar/ns-allinone-2.35/otcl-1.14/Makefile.in
nam-1.15/Makefile.in
xgraph-12.2/Makefile.in
In all the above places, change @CC@ to gcc-4.8
and @CPP@ @CXX@ to g++-4.8
Open the file
ns-2.35/linkstate/ls.h
in line number 137, change the line erase to this-erase
Once the installation is over, Set the PATH and LD_LIBRARY_PATH information in the file located at
/home/pradeepkumar/.bashrc
export PATH=$PATH:/home/pradeepkumar/ns-allinone-2.35/bin:/home/pradeepkumar/ns-allinone-2.35/tcl8.5.10/unix:/home/pradeepkumar/ns-allinone-2.35/tk8.5.10/unix
export LD_LIBRARY_PATH=/home/pradeepkumar/ns-allinone-2.35/otcl-1.14:/home/pradeepkumar/ns-allinone-2.35/lib
You can change /home/pradeepkumar to your home folder name.
$ns
$nam
$ xgraph
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5 6
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and press Control D (You can get a good graph) and that's it...
For video lectures of this kind, subscribe to my Channel https://www.youtube.com/tspradeepkumar
Hi there,
ReplyDeleteAfter installing ns2.35 allinone I got the following error :
/home/ubuntu/ns-allinone-2.35/tk8.5.10/unix/../generic/tk.h:76:23: fatal error: X11/Xlib.h: No such file or directory
compilation terminated.
make: *** [tk3d.o] Error 1
tk8.5.10 make failed! Exiting ...
how to contact u i have some doubts regarding cooja
ReplyDeleteHello Sir how about RSU integration in NS2 To simulate V2I communication
ReplyDeleteHi sir, I ma not able to get xgraph after following this installation steps. Can you please help me?
ReplyDelete