ME495 Embedded Systems Homework 1

Author: Zhengxiao Han

1. Use ros2 launch turtle_control waypoints.launch.xml to run the code

2. The ros2 service call /load turtle_interfaces/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 replaying the rosbag, the turtle moves looks like what it was before, but as time goes, the trajectory will gradually drift from the original trajectory.

5. Here is a video of the turtle in action.

   me495-homework-1.mov