turtle_control package

The turtle_control package uses the turtlesim package to to render waypoints as X's using a turtle pen, and then traverse those waypoints using a motion planner while recording its running error.

The intention behind doing this project was to gain familiarity with the turtlesim package, making asynchronous calls, and maintaining future objects.

Quickstart Guide

1. Use ros2 launch turtle_control waypoint.launch.xml to run the waypoint node.
2. Call the /load service to load waypoints for the turtle to follow.
3. Call the /toggle service to start and stop the turtle.

HW1-Video.webm

Author: Aditya Nair