- To create a ```my_robot``` ROS package to hold the robot, white ball, and the world.
- To design a skid-steer drive robot with the Unified Robot Description Format and adding two sensors to the robot: a lidar and a camera. 
- To add Gazebo plugins for the robot’s skid-steer drive, lidar, and camera. 
- Housing the robot inside a gazebo world. 
- Adding a white-colored and yellow-colured ball to gazebo world. The ```world.launch``` file should launch the world with white and yellow-colored ball and robot.

- To create a ball_chaser ROS package to hold C++ nodes.
- Writing a ```drive_bot``` C++ node that will provide a ```ball_chaser/command_robot``` service to drive the robot by controlling its linear x and angular z velocities. The service should publish to the wheel joints and return back the requested velocities.
- Writing a ```process_image``` C++ node that reads the robot’s camera image, analyzes it by using cv_bridge, opencv and hough circle transform to determine the presence and position of any ball. If a ball exists in the image, the node should request a service via a client to drive the robot towards it.
- The ```ball_chaser.launch``` should run both the drive_bot and the process_image nodes.