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Concordia University Aerospace Robotics Lab (CUARL)
Concordia University Aerospace Robotics Lab (CUARL)

Robotics Research Intern

Concordia University Aerospace Robotics Lab (CUARL)

May 2025 — Dec 2025Montreal, QCinternship

Working on CRAWLR (Concordia Robotic Articulated Wheel-Legged Rover), an experimental space-rover platform for push–pull locomotion research in unstructured planetary terrain.

ROS2PythonC++CAN BusGazeboZED SDKArUcoXacro

Key Contributions

ROS2 Control Stack Development

  • Integrated ros2_control/ros2_controllers with Virtual CAN workflow using ros2_canopen
  • Enabled hardware-identical testing without the physical rover by simulating motor drivers on Gazebo via Virtual CAN

Moveit2/Simulation

  • Learned how to do trajectory planning and execution using Moveit2 on fist a simulated robotic arm.
  • Transferd that knowledge to integrate motion planning pipeline for the rover simulation

Teleoperation System

  • Built complete Xbox joystick teleoperation package - enabling user control of the robot for the very first time
  • Pipeline: Joy → Twist → diff-drive/skid-steer solver → Float64MultiArray → CAN
  • Validated in Gazebo and on hardware.

Perception System

  • Implemented perception-based position estimation for closed-loop experiments
  • Used ArUco markers and offboard camera first, then swithing to ZED2/ZED SDK an onboard Jetson AGX Xavier
  • Achieved 20–30 Hz estimation with ROS2 message send wirelessly over the network for feedback for closed loop Simulink controller.