Perception

Made during the e-yantra Robotics Competition 2020-21, Sahayak Bot was the first project that introduced me to simulation-based advanced robotics development using ROS & Gazebo. We focused on the developement of the autonomy stack of Sahayak Bot, a mobile manipulator, including navigation, SLAM, perception, manipulation & mission planning using ROS, Gazebo and Moveit!. Upon completition our implementation was selected among top 7 finalists out of almost 500 teams.

An open source project being developed as part of A.T.O.M Robotics Lab. The project is intended to work as a one-stop solution for easily deploying perception pipelines with common applications like object detection, image segmentation, image pre processing, etc. The project follows modular plugin-based architecture much like Nav2 in concept. The project is actively used in A.T.O.M’s in-house mobile robot - MR Robot