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 NS3 in Mac M1
Installation of ns-3.42 in Mac M1. This should work for M2 and M3 as well.
Prerequisites:
- ns-allinone-3.42.tar.bz2 software
- Homebrew or Macports(we use homebrew here)
- Xcode command line tools
Find the video here for more instructions:
Here is the installation of homebrew, open a terminal
% /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"zGive the sudo or admin password to continue
The above command will install homebrew from GitHub
Set the user profile for which the installation is to be done. (In my case my username is pradeepkumar)
% (echo; echo ‘eval “$(/opt/homebrew/bin/brew shellenv)”‘) >> /Users/pradeepkumar/.zprofile
Installing Xcode On my machine, I have already installed Xcode, but here is the command to install
% xcode-select --install (this might take some time if you run it for the first time.)
Installation of python3 and clangDownload python3 from the website https://www.python.org/ftp/python/3.12.4/python-3.12.4-macos11.pkgIn my machine, I have installed python as well. But check my video link here for the installation of python in Mac M1 here ====>
Now install additional packages like wget
% brew install cmake ninja gnuplot ccache
Now download the ns3 software from the website nsnam.org or else use the following command to download the software
# brew install wget
# wget https://www.nsnam.org/releases/ns-allinone-3.42.tar.bz2
# tar jxvf ns-allinone-3.42.tar.bz2# cd ns-allinone-3.42/# ./build.py --enable-examples --enable-tests
This installation process will take some time based on the RAM and processing power of your Mac.
After the installation, you can check and run the following commands for the successful installation of ns3 in Mac M1.
% cd ns-3.42/% ./ns3 run hello-simulator
% ./ns3 run first
% ./ns3 run second
So ns3 was installed successfully in Mac M1. Also, NetAnim as well works fine
This is how the way it looks:
ns3
To open ns3, here is the command Open the terminal and give the following commands,
# cd ns-allinone-3.42/ns-3.42/# ./ns3 run first
if you want to run netanim, here is the command
# cd ns-allinone-3.42/netanim-3.108/
# ./NetAnim
Installation of NS3 in Mac M1
Installation of ns-3.42 in Mac M1. This should work for M2 and M3 as well.
Prerequisites:
- ns-allinone-3.42.tar.bz2 software
- Homebrew or Macports(we use homebrew here)
- Xcode command line tools
Find the video here for more instructions:
Here is the installation of homebrew, open a terminal
% /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"z
Give the sudo or admin password to continue
The above command will install homebrew from GitHub
Set the user profile for which the installation is to be done. (In my case my username is pradeepkumar)
% (echo; echo ‘eval “$(/opt/homebrew/bin/brew shellenv)”‘) >> /Users/pradeepkumar/.zprofile
Installing Xcode
On my machine, I have already installed Xcode, but here is the command to install
% xcode-select --install
(this might take some time if you run it for the first time.)
Installation of python3 and clang
Download python3 from the website https://www.python.org/ftp/python/3.12.4/python-3.12.4-macos11.pkg
In my machine, I have installed python as well. But check my video link here for the installation of python in Mac M1 here ====>
Now install additional packages like wget
% brew install cmake ninja gnuplot ccache
Now download the ns3 software from the website nsnam.org or else use the following command to download the software
# brew install wget
# wget https://www.nsnam.org/releases/ns-allinone-3.42.tar.bz2
# tar jxvf ns-allinone-3.42.tar.bz2
# cd ns-allinone-3.42/
# ./build.py --enable-examples --enable-tests
This installation process will take some time based on the RAM and processing power of your Mac.
After the installation, you can check and run the following commands for the successful installation of ns3 in Mac M1.
% cd ns-3.42/
% ./ns3 run hello-simulator
% ./ns3 run first
% ./ns3 run second
So ns3 was installed successfully in Mac M1. Also, NetAnim as well works fine
This is how the way it looks:
 |
| ns3 |
To open ns3, here is the command
Open the terminal and give the following commands,
# cd ns-allinone-3.42/ns-3.42/
# ./ns3 run first
if you want to run netanim, here is the command
# cd ns-allinone-3.42/netanim-3.108/
# ./NetAnim
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