Technical Stack

Tools I Wield

Robotics middleware, navigation algorithms, mechanical design software, and programming languages — all applied on production hardware and deployed to competition floors.

ROS2 Humble· Nav2· SLAM Toolbox· AMCL· EKF Fusion· C++ · Python· SolidWorks· STM32· Hybrid A*· Holonomic Kinematics· BehaviorTree.CPP· Ubuntu / Linux· TF2· RViz2·
Robotics Middleware
  • ROS2 Humble
  • Nav2 Navigation Stack
  • TF2 Transform Library
  • RViz2 Visualisation
  • Gazebo Classic Sim
  • ROS2 Lifecycle Nodes
  • BehaviorTree.CPP (Nav2 BT)
  • ros2_control
Navigation & Localisation
  • SLAM Toolbox (online / lifelong)
  • AMCL — Monte Carlo
  • Extended Kalman Filter (EKF)
  • robot_localization package
  • Sensor Fusion (IMU + Odometry)
  • Costmap2D (Global & Local)
  • LIDAR & Encoder Integration
Path Planning
  • Custom Nav2 Planner Plugins (C++)
  • Hybrid A* Planning
  • Spline Trajectory Generation
  • Dubins Path Primitives
  • Holonomic Motion Planning
  • Velocity Profiling & Smoothing
  • Non-holonomic Constraints
Mechanical Design
  • SolidWorks — Parametric CAD
  • Full Assembly Design
  • Drivetrain Engineering
  • Swerve Drive Geometry
  • Differential Drive Systems
  • Bearing & Shaft Sizing
  • Manufacturing Tolerancing
  • 3D Printing & Fabrication
Programming
  • C++ — Primary ROS2 Language
  • Python — Scripting & Tooling
  • Linux / Bash Shell
  • Git & GitHub
  • Colcon Build System
  • CMake & ament_cmake
Hardware & Electronics
  • STM32 Microcontrollers
  • Motor Driver Integration
  • IMU Calibration & Fusion
  • Quadrature Encoder Interfacing
  • Serial Communication
  • Robot Hardware Bring-up
Proficiency Breakdown
Skills mapped to projects and competition results
⚙
ROS2 Navigation (Nav2)
Expert
Used in: Nav Stack · Diff-Drive Planner · Swerve Planner
🔍
SLAM & Localisation
Advanced
Used in: Nav Stack — SLAM Toolbox + AMCL tuning
🛠
C++ (ROS2 / Nav2 Plugins)
Advanced
Used in: All 4 systems — plugin APIs, kinematics, trajectory generation
🔧
SolidWorks Parametric CAD
Advanced
Used in: Mechanical Design — full competition assemblies
🎯
Path Planning Algorithms
Expert
Hybrid A* · Dubins · Holonomic decomposition · Spline trajectories
⚡
Embedded / STM32
Intermediate
Motor drivers, encoder interfacing, serial comms
🐧
Linux / Ubuntu
Advanced
Primary development environment, colcon, bash, networking
📈
EKF / Sensor Fusion
Advanced
Used in: Nav Stack — IMU + wheel odometry fusion