ME495 Embedded Systems Homework 2

Author: Pushkar Dave

Visualises an arena in RViz with a holonomic turtlebot, which attempts to catch a freefalling brick and drop it at the center of the arena.

Quickstart

1. Use ros2 launch turtle_brick turtle_arena.launch.xml to start the arena and turtle simulation
2. Use ros2 service call /drop turtle_brick_interfaces/srv/Drop to drop a brick
3. Here is a video of the turtle when the brick is within catching range

turtle_catches_brick.mp4

4. Here is a video of the turtle when the brick cannot be caught

turtle_unreachable.mp4