Project 1: A ROS2 Controller

For this project, you may program an iRobot Create3 robot to do anything you like, subject to the following constraints:

• The program should use four ROS2 nodes, along the lines of the final part of Module 3:
  • A node that encodes inputs into symbolic values and publishes them.
  • A StateNode.
  • A node that publishes motor commands corresponding to states.
  • A CursesNode to display useful information.
    • It may also handle keyboard commands.
• The robot must have at least four distinct states and four distinct inputs. It may have more.
• The robot’s behavior must be influenced in some way by sensor values coming from at least three topics.
  • In Modules 1-3 we explored the ir_intensity, battery_state, odom, and hazard_detection topics.
  • Other topics that might be interesting to employ in this project include:
    • interface_buttons
    • dock_status
    • ir_opcode