I've been a software engineer for 15 years. I've worked in a range of industries, from emergency services to the cinema, and on projects where software shipped directly customers or to internal development teams.
I'm interested in designing and building autonomous mobile robots with four-wheel independent steering (also known as a swerve drive). The prototype has ROS2 code for robot description, the Gazebo world and the steering controller. I've also contributed a significant amount of the ROS code for the SCUTTLE robot.
Other interests include:
- All kinds of autonomous mobile robots
- Electronics
- Computer Aided Design (Rhino3d, Fusion360, AutoCAD)
- Rock climbing
- Gardening
- Woodworking
- Swerve drive - Motor limitations
- Four wheel steering simulation - 0 degree linear to rotation - velocity limited
- Swerve drive - Using Nav2
- Robotics - Making URDF models
- Four wheel steering robot - Omnidirectional drive
- Swerve drive - Motion profiles
- Swerve drive - Control animations
- Swerve drive - Better movement by controlling the body motions
- Swerve drive - Verification of the kinematics solution
- Four wheel steering model with ROS2 controllers - Ignition Gazebo first movement
- Swerve Vehicle Descriptors - 0.1.0