turtle_brick package

The turtle_brick package contains a kinematic simulation of a turtle robot moving around an arena to catch a brick falling from the sky, in rviz2. The turtle is holonomic and returns to the home position after catching a brick. The 2-Dimensional location of the robot is also emulated in a turtlesim node.

The intention behind doing this project was to gain familiarity with rviz2 and the tf2 library.

Quickstart

1. Use ros2 launch turtle_brick turtle_arena.launch.xml 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

Turtle_reached.webm

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

Turtle_unreached.webm

Author: Aditya Nair