Assignment 2

This repository contains two branches, each implementing robot navigation functionalities using different versions of ROS:

• ros1 Branch: Implements an action client and service node for robot navigation in ROS 1.
• ros2 Branch: Implements a node for robot navigation in ROS 2.

Branch Details

ros1 Branch

In the ros1 branch, the package assignment2_rt provides the following components:

1. Action Client Node:

   • Allows the user to set a target position (x, y) or cancel it.
   • Utilizes the feedback from the action server to determine when the target has been reached.
   • Publishes the robot's position and velocity as a custom message (x, y, vel_x, vel_z), based on data from the /odom topic.

2. Service Node:

   • Returns the coordinates of the last target set by the user when called.

3. Launch File:

   • Starts the entire simulation environment, including the nodes mentioned above.

ros2 Branch

In the ros2 branch, the task involves:

• Implementing a ROS 2 package with a single node capable of moving the robot around in the simulation environment.
• The node prompts the user to input linear velocity x and angular velocity z, moving the robot for 3 seconds per command, continuing until the program is terminated.

Getting Started

To explore the implementations:

1. Clone the Repository:

   git clone https://github.com/AlessandroMangili/assignment2_rt.git

2. Checkout the Desired Branch:

   # For ROS 1 implementation
   git checkout ros1
   
   # For ROS 2 implementation
   git checkout ros2

3. Follow the Instructions:
   • Each branch contains a README.md file with detailed setup and usage instructions specific to that implementation.