ROS 2 Humble logistics system
Logistics CoBot
Mobile robot navigation with Nav2 and slam_toolbox, paired with UR5 manipulation via MoveIt2 and ArUco markers.
Projects
Some projects I’ve built!
Perception and grasp generation
Perception Pipeline
Metric 3D reconstruction of a scene using SAM3D, followed by object localization and grasp generation using FoundationPose and Grasp Sampler.
Dependency-light grasp sampler
Grasp Sampler
Generates 6-DoF parallel-jaw grasps for any mesh by combining primitive, OBB-face and antipodal samplers.
ROS 2 teleoperation framework
ATOM
Maps Meta Quest 2 controller poses to a robot arm using adaptive inverse kinematics, with support for multiple robots and teleoperation modes.