#ME495 Embedded Systems Homework 2 Author: Alyssa Chen

The package creates a turtle robot and arena in rviz that is connected to turtlesim. You can call a place service that will place a brick in the arena and any x, y, z location. When you call to drop the brick, the turtle robot will determine if it can catch the brick before it hits the ground. If it can, the robot will drive over on rviz and turtlesim and catch the brick. It will then return to the center and tilt the brick off it's platform. If it cannot catch the brick, the screen will tell you that it is "UNREACHABLE".

Quickstart

1. Use ros2 launch turtle_brick turtle_arena.launch.py use_jsp:='"none"' to start the arena and turtle simulation
2. Use 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

196850920-de1b0534-6ec8-48c1-9517-31d77fb2c711.webm

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

196851138-7a033f9c-516c-414e-a1e4-d0c1c826d026.webm

Worked With: ${Vaish}