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
- Brought up and stabilized a ROS2 control stack for motor control over CAN (EPOS4)
- Integrated ros2_control/ros2_controllers with Virtual CAN workflow using ros2_canopen
- Enabled hardware-identical testing without the physical rover
Simulation/Hardware Switching
- Implemented Xacro conditional plugin loading and launch-time arguments
- Removed manual config edits when moving between Gazebo simulation and real hardware
- Streamlined development workflow for the entire team
Teleoperation System
- Built complete Xbox joystick teleoperation package
- Pipeline: Joy → Twist → diff-drive/skid-steer solver → Float64MultiArray → CAN
- Validated in Gazebo and on hardware during field trials
Perception System
- Implemented perception-based position tracking for closed-loop experiments
- Used ZED2/ZED SDK and ArUco markers
- Achieved 20–30 Hz tracking with ROS2 message type integration for Simulink control stack