About

Work Experience

• ROS2 Robotics Engineer, 

  Jan, 2024 - Present

  Industry Placement - Autonomous Agricultural Robots

  • Developed ROS2 Humble autonomous navigation with Nav2, AMCL, and SLAM Toolbox for agricultural robots

  • Built high-fidelity Gazebo simulations with accurate sensor models and physics for field testing

  • Implemented URDF pipeline for automated 3D robot model generation from CAD files

  • Created microROS bridge for real-time sensor data processing and motor control

Projects Experience

• A24 - Autonomous SLAM Research Platform

  - Present

  • 2-year development of modular AMR with complete ROS2 Nav2 stack and SLAM Toolbox integration

  • Implemented RP-LiDAR A1 360° scanning with custom mounting for precise 2D mapping

  • Developed microROS firmware for ESP32 enabling efficient ROS2-microcontroller communication

  • Achieved successful sim2real transfer from Gazebo simulation to hardware deployment

• OpenBase2 - Low-Cost Autonomous Navigation

  - Present

  • Built £240 AMR using repurposed hoverboard motors demonstrating cost-effective robotics

  • Implemented RTAB-Map SLAM with Intel D415 depth camera for 3D mapping and localization

  • Developed ESP32 microROS nodes for distributed motor control and sensor processing

  • Integrated WebRTC for remote teleoperation and real-time video streaming

• BiStable - Self-Balancing Robot

  - Present

  • Developed 2-wheeled balancing robot with complete ROS2 architecture in 2-week UCL project

  • Implemented dual-core ESP32 processing: Core 1 for PID balance, Core 2 for motor control

  • Created PyBullet simulation for PID tuning achieving stable balance with MPU6050 IMU

  • Integrated MediaPipe hand tracking for gesture-based robot control

  • Succesfully tuned the FreRTOS tasks to handle velcotity control for stepper motors while still enabling microROS comunication

• Nav2 Agent - Natural Language Robot Control

  - Present

  • Pioneered LLM-controlled navigation enabling commands like 'Go to kitchen' in simulation

  • Built LangChain-ROS2 bridge for AI-driven path planning and obstacle avoidance

  • Developed semantic mapping system translating natural language to navigation goals

  • Demonstrated feasibility of conversational interfaces for robot control

• radioROS - Universal Wireless Controller

  - Present

  • Designed custom PCB with ESP32-S3 for universal ROS2 robot control

  • Implemented hardware interrupt-based PWM processing for real-time control

  • Developed ROS2 driver package with Twist message publishing for robot velocity control

Skills

Education

Certificates

Interests