Developing Custom ROS 2 Nodes and Launch Files

Objective

This assignment focuses on developing your ability to write custom ROS 2 nodes and utilize launch files for running multiple nodes simultaneously. You will create a custom ROS 2 node that controls the Turtlesim simulation and develop a launch file to run the simulation and node together.

Tasks

Task 1: Create a Custom ROS 2 Node

• Develop a ROS 2 node that makes the Turtlesim follow a unique pattern:
• Circle Movement: The turtle should move in a circle with a radius that is provided as a user input.
• Logarithmic Spiral Movement: The turtle should move in a logarithmic spiral pattern.

Task 2: Develop a Launch File

• Create a launch file that starts the Turtlesim simulation and the custom ROS 2 node simultaneously.
• Ensure proper documentation of the node and launch file creation process, including the code and the results of executing the tasks.

Task 3: Modify the Turtlesim Simulation Environment

• Use existing Turtlesim services such as spawn and clear to modify the simulation environment:
• Spawn 5 Turtlebots with a single launch file, placing them diagonally from the top left to the bottom right.
• Drive the middle 3 turtles back and forth continuously using ROS 2 services.

Task 4: Modify Turtle Behavior with Parameters

• Utilize ROS 2 parameters to alter the behavior of the turtles:
• Change the speed of the turtles dynamically during the simulation.

Learning Outcome

By completing this assignment, you will:

• Understand how to develop and execute custom nodes in ROS 2.
• Learn the utility of launch files in managing the execution of multiple nodes in ROS 2.
• Learn how to interact with ROS 2 services to modify node behavior and simulation environments.
• Understand how to use ROS 2 parameters to control and alter the behavior of nodes in real-time.

Submission Process

1. Create Files:
2. Navigate to the module_2_assignment package.
3. Create the required files for the custom ROS 2 node and launch file.
4. Document Your Work:
5. Create a README.md file in the module_2_assignment package.
6. Provide details about the files you created, including explanations of the code and the commands needed to run your custom node and launch file.
7. Submit Your Assignment:
8. Push your changes to your forked repository.
9. Provide your repository link in the assignment submission text area.
10. Note: Ensure you press the “Start Assignment” button when you see the page (as it takes time to generate the pages).
11. Wait for Review:
12. Wait for the instructors to review your submission.