Embedded Files
ROS, or Robot Operating System, is a set of open-source software libraries and tools for building robot applications. From controlling robot arms to navigating mobile robots, ROS has what you need. This page contains my journey with ROS, including projects, challenges, and achievements.
ROS, or Robot Operating System, is a set of open-source software libraries and tools for building robot applications. From controlling robot arms to navigating mobile robots, ROS has what you need. This page contains my journey with ROS, including projects, challenges, and achievements.
Projects
Simulations
Realistic VTB Generation using gaussian splats for robot learning.
Realistic VTB Generation using gaussian splats for robot learning.
In my observation, the rise of Gaussian Splatting (GS) is setting the stage for a revolution in 3D reconstruction and virtual testbeds for digital twins, leaving conventional methods like photogrammetry and Neural Radiance Fields (NeRFs) in the dust. I recently had the chance to test it out —by taking a short, 10-second aerial video of the stunning landscape around Blüemlisalphütte, Switzerland. From that brief clip, I created a rough Gaussian splat, reconstructed the terrain in Gazebo, and then implemented Region of Interest (RoI) detection using a simulated drone in ROS Gazebo.
More Details:
3D Mapping Simulation of a Realistic MArtian Cave Structure on ROS
3D Mapping Simulation of a Realistic MArtian Cave Structure on ROS
I performed a 3D map simulation of V-shaped Martian cave using a 3D LiDAR mount on my designed robot, Big bot. Octomap was used as the mapping approach. It was featured on ROS News for the Week, January 23rd | accessible at - ROS News for the Week of January 23rd, 2022 - General - ROS Discourse
More Details:
Pointcloud segmentation based on RANSAC and DBSCAN
Pointcloud segmentation based on RANSAC and DBSCAN
This is an extension to the 3D mapping project where I segmented a portion of the generated cave map using DBSCAN and RANSAC
More Details:
Autonomous Nurse Robot Simulation
Autonomous Nurse Robot Simulation
A test of autonomous SLAM and navigation to be implemented in my designed nurse robot. According to preliminary simulations, the bot is capable of transporting specified medical products, such as pharmaceuticals, and performing rudimentary medical procedures at a location using built-in algorithms.
More Details:
Autonomous liDAR-based Search and Rescue Robot SImulation that uses 2D Lidar to create 3D map of the disaster site
Autonomous liDAR-based Search and Rescue Robot SImulation that uses 2D Lidar to create 3D map of the disaster site
I developed an affordable conceptual search and rescue robot that can detect victims in disaster rubble using affordable 2D LiDAR instead of expensive cameras and also create a 3D map of the disaster site for further investigation. This was developed as part of a project showcasing competition arranged by IEEE in 2021.
Further reading:
IEE_Vid.mp4Suspension Test of the Mars Rover Design, Ogrodoot
Suspension Test of the Mars Rover Design, Ogrodoot
The first suspension test of the design of our mars rover prototype, Ogrodoot for IRDC 2021. We made some major modifications to the wheels after the test. This was by far the most stressful project we worked on this year having simultaneous lab finals and end-semester tests.
Extremely proud of my team, Ogrodoot for pulling off such a big stunt in half a week against the tide.
Further reading:
Why mostly simulations?
Why mostly simulations?
-'Cause I'm mostly broke.
Physical Implementations
Real-time hector-mapping of a portion of my apartment using RPLiDAR-A1
Real-time hector-mapping of a portion of my apartment using RPLiDAR-A1
I used hector_mapping from the hector_slam package as it can work fairly well without odometry data. There were some initial hiccups (I guess you might call them the perils you encounter when you step into reality from simulation!) but it all worked out very nicely in the end, as evidenced by the 2D-map.
Page updated
Google Sites
Report abuse