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 logic should be encapsulated in a Python ROS2 node.
• The ROS2 node should maintain some persistent state information that visibly influences the robot’s behavior.
• The robot’s behavior must be visibly influenced by sensor values coming from at least three of the following topics:
  • ir_intensity
  • odom
  • hazard_detection
  • interface_buttons
  • groundline
• The ROS2 node should display pertinent state and sensor information using curses.
• The robot’s task should be creative or interesting in some way.