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AUV @ McGill Robotics

ROSSoftware DevelopmentRobotics
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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.
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 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.