ME450-Homework1

Author : Kasina Jyothi Swaroop

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

2. The ros2 service call /load turtle_interfaces/srv/Waypoints '{waypoints: [{x: 3.9, y: 5.4}, {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}]}' service loads waypoints for the turtle to follow

3. The ros2 service call /toggle std_srvs/srv/Empty starts and stops the turtle.

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

   Note: The delay in command execution after the waypoints load is due to human error of me searching for the command

   bagRecording.webm

5. Here is a video when the bag is played.

   Note : The delay at the start of the video is because two reasons:

   • When the bag was being recorded, it was started before the /load callback
   • The replay was started a bit late.(human error of me typing wrong command)
   bagReplaying.webm

6. Loop Metric

   The loop metric topic is as follows:

   

   Note : The metric is negative because the turtle never moves to the true center due to tolerance checks