ROS

Software Development

Robotics

Visit Site

This was my first exposure to ROS, and the first design team I joined in my time at McGill.

At McGill robotics, I work with ROS, Python, and C++ in a team to create an underwater robot (AUV) for competition. I worked on the ROS driver for a DVL position sensor to for the robot’s closed loop 3d position control.

Debugging the AUV at the side of the pool. No laptops were harmed.

• Worked on AUV (autonomous underwater vehicle) for the RoboSub competition.
• Implemented a Teledyne Navigator DVL driver for ROS in C++ and Python, enabling extremely precise absolute autonomous positioning.
• Measured and evaluated positioning performance wth DVL compared to IMU based relative positioning by running the robot in a physical test environment.