Quantum simulations of non-Abelian gauge theories require efficient mappings onto quantum computers and practical state preparation and measurement procedures. A truncation of the Hilbert space of non-Abelian lattice gauge theories with matter in the heavy quark limit is developed. This truncation is applied to SU(2) lattice gauge theory in 1+1D to map the theory efficiently onto a quantum computer. Scalable variational circuits are found to prepare the vacuum and single meson states. It is also shown how these state preparation circuits can be used to perform measurements of the number of mesons produced during the system's time evolution.