I2C Mux Project

Haritha_EnC_Inductions

#QUESTION 1

ROS 2 Rover Status Publisher

1. System Architecture

I created two nodes that chat over three separate topics:

• rover_status_publisher: Simulates live data feeds from the rover.
• rover_status_subscriber: Listens to all three channels at once and prints the combined status to the console.

Topic Setup

• /battery_level (std_msgs/msg/Float32): Tracks remaining power.
• /rover_mode (std_msgs/msg/String): Shows the current mode (Manual, Auto, etc.).
• /emergency_stop (std_msgs/msg/Bool): Flag for hard safety stops.

2. CLI Inspection & Verification

While both nodes were running, I used the following ROS 2 command-line tools to inspect the system. (All screenshots are saved in the assets/ folder).

#Question 2 & Bonus

ROS 2 Custom Messages & Multi-Node Launch

Hey! This final section documents how I wrapped multiple pieces of status data into a single, clean custom ROS 2 message interface, built a unified package for it, and automated the whole ecosystem with a single launch file.

1. Custom Message Definition (RoverStatus.msg)

Instead of cluttering the system graph with multiple standalone topics, I grouped related telemetry properties into a single unified interface structure.

Interface Composition

float32 battery_percentage
float32 velocity
bool emergency_stop
string mode


#**QUESTION 3**
# 2-Link Planar Manipulator Kinematics 
## 1. Manipulator Specifications
* **Link 1 ($L_1$):** 2.0 m
* **Link 2 ($L_2$):** 1.5 m
* **Base:** Anchor fixed at origin $(0, 0)$, operating exclusively in the XY-plane.

## 2. Workspace Bounds

* **Maximum Reach ($R_{\max}$):** Achieved when the arm stretches completely straight ($\theta_2 = 0$):
  $$R_{\max} = L_1 + L_2 = 2.0 + 1.5 = 3.5\text{ m}$$

* **Minimum Reach ($R_{\min}$):** Achieved when the arm folds completely back over itself ($\theta_2 = \pi$):
  $$R_{\min} = |L_1 - L_2| = |2.0 - 1.5| = 0.5\text{ m}$$

A target coordinate $(x, y)$ is mathematically reachable if its Euclidean distance from the origin ($d = \sqrt{x^2 + y^2}$) satisfies:
$$0.5\text{ m} \le d \le 3.5\text{ m}$$