Task 1

• Kyeong Wook Seo
• ROS2 Foxy
• c++

Task 2

• $v_r = \sqrt{\dot{x}_r^2 + \dot{y}_r^2}$
• $w_r = \dfrac{\dot{x}_r\ddot{y}_r-\ddot{x}_r\dot{y}_r}{\dot{x}_r^2+\dot{y}_r^2}$

Task 3