ME 495 Embedded Systems - homework 2

Author: Ayush Gaggar

This homework assignment is from NU ME 495 by Matt Elwin, requiring custom service messages, nodes, topics, and launch files, along with urdf, xacro, and xml files in rviz2. Goal: launch a robot in rviz2, place a brick at a specified location, and drive the robot to catch the brick (after determining whether it's within range and speed limits). After catching the brick, drive it back to the spawn position and tilt it off.

Quickstart

1. Use ros2 launch turtle_brick turtle_arena.launch.py use_jsp:=none to start the arena and turtle simulation. (Note that use_jsp has options gui, jsp, and none, depending on whether the user wants to use the joint state publisher gui or not)
2. Use ros2 service call /brick_place turtle_brick_interfaces/srv/Place '{brick_x: 8.0, brick_y: 3.0, brick_z: 25.0}' to drop the brick
3. Here is a video of the robot when the brick is within catching range:

Catchable.mp4

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

Uncatchable.mp4

Worked with: Nick Morales, Katie Hughes, Marnu Nel, Allan Garcia-casal, Ava Zahedi, David Dorf