// Page under construction (Actually, this page has been abandoned since early 2022…) //

“If you built a project and did not write about it, did you really build a project?”

Overview

Browse projects by tag

• ROS: Worked on the open-source Robot Operating System (ROS) as a summer intern in 2022. What was really cool about this experience was that I got to work directly with NASA on their VIPER lunar rover project, supporting their use of ROS2 and Gazebo on their simulation, ground control, and autonomy systems.
  • ROS is essentially the de-facto standard for writing robot software and can be found in Roombas, Boston Dynamic’s spot, industrial robot arms, and even in space!
  • Intern Presentation Slides
  • Presentation at August 2022 Gazebo Community Meeting
  • REP2012: Service Introspection: Enabling service introspection, i.e. allowing for ros2 service echo and ros2 bag record --services. This highly requested feature has been absent from ROS since the introduction of ROS services in ~2011 and I’m excited to have been able to help make it a reality. See meta-ticket
    • Lots of changes to rcl core ROS library and rosidl (and associated libs) code generation pipeline plus implementing support in rclpy and rclcpp client libraries and adding tooling
    • Helped introduce mypy compliance in rclpy, ParameterClient, fixing race conditions in certain edge cases when shutting down an rclpy node, lots of miscellaneous maintenance tickets, and improving test coverage
    • Wrote a vim plugin for the empy templating engine: ihasdapie/empy.vim
• aUToronto, UofT’s self-driving car team: I’ve been a part of this team since 2020 and in doing so have worn many hats. Here are some of them:
  • Trajectory motion planning lead: designed, implemented, and deployed local trajectory motion planning algorithms to generate kinematically feasible trajectories
  • DLA lead, creating a inference engine to run YOLOv5 in real-time across 4 cameras with NVIDIA TensorRT
  • Simulation & Testing co-lead, working on automated integration testing & associated ROS/ROS2 tooling Demo below
• GrocerCheck: Github, Pitch Deck A website to help people reduce contact at grocery stores and essential services. Got some press coverage too!
  • CBC Piece
  • CBC Piece, but in French
  • CBC TV piece can be found below
  • Daily Hive: Toronto, Vancouver, Seattle
  • Seattle Pi
  • CBM Press (Korean News)
  • Salam Vancouver (Iranian News)
  • Fairchild TV: Interview broadcast on national Chinese TV
• btrnt: "Bot or not": A chrome extension that implements GLTR to use machine learning to detect and combat AI-generated text. Demo below.
• The Humerus Bot A bot that leverages large NLP ML models to play Cards against Humanity, a popular humor-based card game. Demo below.
• gws: A simple web server implemented in 111 lines of go used for serving my personal website. Github
• dotfiles: Config files I spend too much time on.
• LivePopularTimes GrocerCheck backend data collection library
• bettermotherfuckinghugowebsite A minimal hugo template inspired by http://bettermotherfuckingwebsite.com/ – now with modern conveniences.
• BC Parks Foundation: ‘discoverparks’ platform currently in public alpha.
• And more!

Demos:

OSRF Intern Presentation

OSRF Intern Presentation Demo

GrocerCheck CBC Interview

GrocerCheck Pitch Deck

aUToTest (aUToronto)

btrnt

Humerus