ME495 Embedded Systems Homework 1

Author: Pushkar Dave

1. Use ros2 launch turtle_control waypoints.launch.xml to run the code
2. The ros2 service call /load turtle_intefaces/srv/Waypoints "{waypoints: [{x: 1.4, y: 1.6}, {x: 2.2, y: 9.4}, {x: 7.2, y: 6.1}, {x: 4.0, y: 2.6}, {x: 8.2, y: 1.5}, {x: 4.1, y: 5.3}]}" service loads waypoints for the turtle to follow
3. The ros2 service call /toggle std_srvs/srv/Empty starts and stops the turtle.
4. When using ros2 bag play to playback the bagged data to make the turtle move, the turtle crashes into the walls repeatedly. This can be attributed to the fact that the turtle does not start from the same position as the one that was used while recording the ros bag data.
5. Here is a video of the turtle in action.

Revised_Example_Run.webm