ME495 Embedded Systems Homework 2

Author: Zhengxiao Han (韩 政霄)

turtle_brick: This package includes an arena node that has a physics engine to simulate a brick falling, a holonomic turtle controller to control the turetle to the reference position, and a catcher node to organize turtle's behaviors so that it can catch the falling brick.

turtle_brick_interfaces: Customized message and service interfaces for turtle_brick

Quickstart

1. Use ros2 launch ros2 launch turtle_brick turtle_arena.launch.xml to start the arena and turtle simulation
2. Use ros2 service call /place turtle_brick_interfaces/srv/Place "{x: 6.54445, y: 7.544445, z: 7.0}" and then ros2 service call /drop std_srvs/srv/Empty "{}" to drop a brick
3. Here is a video of the turtle when the brick is within catching range

me495-hw2-reachable.mp4

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

me495-hw2-unreachable.mp4