March 2026 — MRoboSub/mrobosub: Delivered key platform refinements to improve safety, reliability, and cross-platform operation. Refactored thruster controller, clarified emergency stop interfaces, and completed ESP32-Jetson integration to enable real-time depth processing and propulsion control within a ROS-based pipeline. These efforts reduced code complexity, improved fault handling, and established clearer ownership of critical safety features, delivering measurable business value in system stability and faster feature onboarding.

February 2026 monthly summary for MRoboSub/mrobosub. Key feature delivered: Pololu Servo Controller Integration for Thruster System, including integration with the Pololu servo controller, enhanced control logic and error handling, addition of a Pololu node launch file, and modularity-focused setup updates. Major bugs fixed: minor fixes to thruster_controller and Pololu implementation; addressed inconsistencies from merged changes and began aligning parameter access with the newer API version. Overall impact and accomplishments: improved thruster control reliability and observability, enabling safer, more maintainable operations and faster iteration cycles; a modular deployment ready for future upgrades. Technologies/skills demonstrated: ROS-based integration, Pololu hardware integration, modular launch files, enhanced logging and message handling, and robust parameter management.