Projects

Navigation, motion control, and the tooling around them.

One project in progress, built in public. Three from four years of shipping motion control on production machines.

robotics · Featured Public source · clean-clone verified

Differential-drive AGV navigation stack

A public differential-drive simulation with EKF localisation and Nav2. Clean-clone verified; versioned release and public demonstration pending.

stack  ROS 2 Jazzy · Nav2 · robot_localization (EKF) · ros2_control · Gazebo Harmonic
Gazebo Harmonic simulation architecture: wheel feedback and IMU feed the planar EKF; LiDAR supports SLAM Toolbox mapping or saved-map AMCL localisation and costmaps. Nav2 commands pass through Collision Monitor and the health supervisor as TwistStamped messages before reaching diff_drive_controller and the gz_ros2_control simulated joint interface; wheel-joint feedback closes the loop.
Simulation architecture — swipe to pan open full size ↗

What it demonstrates

  • State estimation — EKF fusion of wheel odometry and IMU, and what actually degrades it: wheel slip, unmodelled latency, covariance that is guessed rather than measured.
  • Planning and control — global planner and local controller behaviour on a non-holonomic base, and the recovery behaviours that decide whether a robot is usable or merely demonstrable.
  • ros2_control integration — a simulated joint interface through gz_ros2_control, with stamped commands checked by Collision Monitor and health supervision.
  • Reproducibility — clean-clone verification passed on 13 October 2026: three packages built, seven tests passed and a contact-free clear route.

Build log

  1. 09 Oct 2026 Headless WSL2 environment — ROS 2 Jazzy + Gazebo Harmonic
  2. 10 Oct 2026 URDF + ros2_control simulated joint interface
  3. 10 Oct 2026 EKF wheel-odometry / IMU fusion
  4. 10 Oct 2026 Saved map + AMCL localisation
  5. 10 Oct 2026 Costmaps + NavFn / Regulated Pure Pursuit navigation
  6. 10 Oct 2026 Simulation benchmarks — 30/30 nominal goals, zero obstacle contacts
  7. 13 Oct 2026 Clean-clone verification + licence and maintainer metadata
  8. 13 Oct 2026 Public repository available — agv-ros2-sim
  9. Next Versioned release + public demonstration / artefact publishing current

Status as of 24 November 2026. Latest recorded verification: 13 October 2026. Public source → Versioned release and public demonstration remain pending.

Shipped

robotics
Geely Research Institute
2022

YoboGo quadruped motion control

YoboGo quadruped motion control during my 2022 internship. My work focused on the existing C++ control stack and Up Board bring-up; colleagues handled Jetson-side SLAM and LiDAR.

C++ · Linux · Up Board · LCM · MIT Mini Cheetah-derived control
motion control
Siemens Ltd., China
2022 – present

Servo motion control library

Reusable axis-control blocks — a uniform interface over MC_Power / MC_Home / MC_Move*, interruption-safe homing, cam profiles for cyclic machinery, fault classification an operator can act on, and one-click axis bring-up. Trajectory generation and closed-loop position control in industrial vocabulary.

SCL · S7-1500T Motion Control · SINAMICS S120 / S200 / V90 · SIMOTICS 1FL6
engineering automation
Siemens Ltd., China
2022 – present

Engineering automation platform

Control projects as generated, testable artefacts: screens, tags and blocks created from a specification; an automated PLC↔HMI tag contract; static analysis over SCL and SimaticML; PLCSIM Advanced rigs driven from PowerShell; machine software under real version control. Virtual commissioning and CI for control software.

TIA Openness (C# / PowerShell) · WinCC Unified · PLCSIM Advanced · TIA VCI

Siemens and Geely entries describe techniques only — no customer projects, source files or proprietary material.