ROAR-QUTRC/perseus-v2
Nov 2025 – Mar 2026
5 Months active
Languages Used
PythonXACROXMLMarkdownYAMLCC++CMake
Technical Skills
3D Modeling3D modelingROSSimulation DevelopmentURDFXACRO
Kelvin Le
PROFILE
Kelvin Le
Worked on the ROAR-QUTRC/perseus-v2 repository, delivering a robust simulation and autonomy stack for a rover platform. Over five months, developed and refactored robot models, integrated advanced sensor fusion pipelines, and enhanced navigation with behavior trees and real-time state estimation. Leveraged C++, Python, and ROS 2 to implement modular launch systems, ONNX-based perception, and dynamic configuration management. Improved simulation fidelity through URDF/XACRO standardization and Gazebo integration, while streamlining deployment with Nix-based build tooling. Addressed maintainability by modernizing documentation, cleaning dependencies, and automating model management, resulting in a scalable, reliable codebase supporting autonomous navigation, perception, and flexible deployment scenarios.
Overall Statistics
Feature vs Bugs
80%Features
Repository Contributions
185Total
Bugs
17
Commits
185
Features
69
Lines of code
17,620
Activity Months5
Your Network
14 peopleWork History
March 2026
112 Commits • 39 Features
Mar 1, 2026March 2026 performance summary for ROAR-QUTRC/perseus-v2. The team delivered notable evolution in perception, navigation, and deployment reliability, emphasizing concrete business value: more accurate sensing, faster startup, and cleaner maintenance. Key features delivered - Camera and URDF configuration updates: added RealSense URDF and D455 Gazebo URDF; removed deprecated camera_depth URDF; updated topics/frames to align with new sensors and configurations. Commits include: 492f5a3b41c99b46a3ba1d2df28a450bebcb944d, cefdc16d79a0f6019261af9db648ee01e5df9c41, b659ec84871a812f71175a2bff5baf1a8c37d183, a8c72d630103889c8331a82f2a7110cb0d10816f. - ONNX model integration and runtime: introduced CubeDetector ONNX model loading and integrated ONNX Runtime; default model path now derived from HOME and updated to best.onnx with environment support; added build-time model fetch to ensure up-to-date assets. Commits include: bf481c4619fd15580711f85132dcebbcd541a9ed, b7855a48263fc45f646fb29879ed418775fa6f8d, 0f2863088ce31ccb514804c38296559b3e2c6509, 25c4578d2a28621a34ba62554509fe2949b4063a. - Launch/config modularization and startup reliability: enabled ROS composition in launch files, added delayed controller launch, and integrated rosbridge/twist_mux configurations to improve startup sequencing. Commits include: d19308a8a1259b8b666153faf881cde7898cf749, 8fdbcb3ecf9af8c63263ac7bbbdb4ad3473bd3f4, 41153db33dbb66eeecfd6bf01bbd12169daa48de. - Codebase hygiene and naming consistency: unified naming for callbacks, processing methods and member variables; renamed pcl_to_lsr package to pcl_to_lsr to avoid conflicts; introduced dynamic camera topic naming. Commits include: eb81428eeae904c180e0af48d53e0d3503dc5a0d, eb93298a9fbbf75b72859b10c877b24d1c1c28f0, 9287d0e26f2743cf7ca8e284d613f9dd92055578, f54dff0d69e81971aae5085c050ba1ab6124f4a1. - Build/cleanup and dependencies: reduced clutter by removing unused livox launch file and tidying usb_cam and related dependencies; improved packaging and model handling. Commits include: 658101ca478d1e77f62b3c14b16a6d43ce731d8c, 07777db22e720dc0872b4bc00170bbca7c669267, 44644257feb952e88ee03f8101a546e947cb451d, dd9474df42cf3a8672d05d11ff17eac32f626fbb. Major bugs fixed - Slam parameters: corrected slam_params_file path resolution to the autonomy package. Commits: 48272af53fd19013e22df5d2a41d6413d820fe19, 867f53c229d7a5c831f48682908a495c1ec6ae02, 74abe4cc0cd2e0633bdcdc8b42662a52c8d74f79. - Navigation stability: tuned navigation controller parameters and fixed stability issues impacting path following and obstacle avoidance. Commits: 6694806ec57e4c38c6579dc22b9c9a6452a14d48, b398eee97a1255c27cf7c9f2b657b330cbb6c0fd, 07ea1e32d349a7c053263b4dfc347c923084b55a. - Launch/file naming and sensor frames: corrected PCL to LaserScan package references in launch files and fixed gz_frame_id to reference camera_link (instead of optical variant). Commits: a46b5dd1b28aa9d84957bb3fdcf2004c6d8edb32, a99f10db0ccdddec0d717318cb4c61ebbed7ed4e, 952a3f1efc066bb3ec23e7b778bd8355e73adafa, e912f1980964e842ff598849c373dc5b12e5eb02. - Dependency cleanup: removed unnecessary usb_cam references and resolved simulation/control dependencies to avoid runtime issues. Commits: 44644257feb952e88ee03f8101a546e947cb451d, dd9474df42cf3a8672d05d11ff17eac32f626fbb, 8d37f2ea2b421b645713bff8b2090a55a275f983, 6254313747757317d1b8f475610b9deb76ad370c. Overall impact and accomplishments - Increased reliability and speed: modular launch with delayed controllers and composition reduces startup time and improves resilience in dynamic environments. - Scalable, maintainable model management: build-time ONNX model delivery and environment-driven paths simplify asset handling and updates. - Stronger business value: more accurate perception, robust navigation, and cleaner deployment pipelines enable faster iteration and safer autonomous operation. Technologies and skills demonstrated - ROS 2, URDF, Gazebo, RealSense integration - ONNX Runtime, CubeDetector enhancements, dynamic configuration callbacks - Nix fetchurl, environment-based model paths, HOME-based defaults - Launch composition, delayed controller launch, rosbridge/twist_mux - Code hygiene: naming conventions, module renaming, documentation and formatting practices
112 Commits • 39 Features
Mar 1, 2026March 2026 performance summary for ROAR-QUTRC/perseus-v2. The team delivered notable evolution in perception, navigation, and deployment reliability, emphasizing concrete business value: more accurate sensing, faster startup, and cleaner maintenance. Key features delivered - Camera and URDF configuration updates: added RealSense URDF and D455 Gazebo URDF; removed deprecated camera_depth URDF; updated topics/frames to align with new sensors and configurations. Commits include: 492f5a3b41c99b46a3ba1d2df28a450bebcb944d, cefdc16d79a0f6019261af9db648ee01e5df9c41, b659ec84871a812f71175a2bff5baf1a8c37d183, a8c72d630103889c8331a82f2a7110cb0d10816f. - ONNX model integration and runtime: introduced CubeDetector ONNX model loading and integrated ONNX Runtime; default model path now derived from HOME and updated to best.onnx with environment support; added build-time model fetch to ensure up-to-date assets. Commits include: bf481c4619fd15580711f85132dcebbcd541a9ed, b7855a48263fc45f646fb29879ed418775fa6f8d, 0f2863088ce31ccb514804c38296559b3e2c6509, 25c4578d2a28621a34ba62554509fe2949b4063a. - Launch/config modularization and startup reliability: enabled ROS composition in launch files, added delayed controller launch, and integrated rosbridge/twist_mux configurations to improve startup sequencing. Commits include: d19308a8a1259b8b666153faf881cde7898cf749, 8fdbcb3ecf9af8c63263ac7bbbdb4ad3473bd3f4, 41153db33dbb66eeecfd6bf01bbd12169daa48de. - Codebase hygiene and naming consistency: unified naming for callbacks, processing methods and member variables; renamed pcl_to_lsr package to pcl_to_lsr to avoid conflicts; introduced dynamic camera topic naming. Commits include: eb81428eeae904c180e0af48d53e0d3503dc5a0d, eb93298a9fbbf75b72859b10c877b24d1c1c28f0, 9287d0e26f2743cf7ca8e284d613f9dd92055578, f54dff0d69e81971aae5085c050ba1ab6124f4a1. - Build/cleanup and dependencies: reduced clutter by removing unused livox launch file and tidying usb_cam and related dependencies; improved packaging and model handling. Commits include: 658101ca478d1e77f62b3c14b16a6d43ce731d8c, 07777db22e720dc0872b4bc00170bbca7c669267, 44644257feb952e88ee03f8101a546e947cb451d, dd9474df42cf3a8672d05d11ff17eac32f626fbb. Major bugs fixed - Slam parameters: corrected slam_params_file path resolution to the autonomy package. Commits: 48272af53fd19013e22df5d2a41d6413d820fe19, 867f53c229d7a5c831f48682908a495c1ec6ae02, 74abe4cc0cd2e0633bdcdc8b42662a52c8d74f79. - Navigation stability: tuned navigation controller parameters and fixed stability issues impacting path following and obstacle avoidance. Commits: 6694806ec57e4c38c6579dc22b9c9a6452a14d48, b398eee97a1255c27cf7c9f2b657b330cbb6c0fd, 07ea1e32d349a7c053263b4dfc347c923084b55a. - Launch/file naming and sensor frames: corrected PCL to LaserScan package references in launch files and fixed gz_frame_id to reference camera_link (instead of optical variant). Commits: a46b5dd1b28aa9d84957bb3fdcf2004c6d8edb32, a99f10db0ccdddec0d717318cb4c61ebbed7ed4e, 952a3f1efc066bb3ec23e7b778bd8355e73adafa, e912f1980964e842ff598849c373dc5b12e5eb02. - Dependency cleanup: removed unnecessary usb_cam references and resolved simulation/control dependencies to avoid runtime issues. Commits: 44644257feb952e88ee03f8101a546e947cb451d, dd9474df42cf3a8672d05d11ff17eac32f626fbb, 8d37f2ea2b421b645713bff8b2090a55a275f983, 6254313747757317d1b8f475610b9deb76ad370c. Overall impact and accomplishments - Increased reliability and speed: modular launch with delayed controllers and composition reduces startup time and improves resilience in dynamic environments. - Scalable, maintainable model management: build-time ONNX model delivery and environment-driven paths simplify asset handling and updates. - Stronger business value: more accurate perception, robust navigation, and cleaner deployment pipelines enable faster iteration and safer autonomous operation. Technologies and skills demonstrated - ROS 2, URDF, Gazebo, RealSense integration - ONNX Runtime, CubeDetector enhancements, dynamic configuration callbacks - Nix fetchurl, environment-based model paths, HOME-based defaults - Launch composition, delayed controller launch, rosbridge/twist_mux - Code hygiene: naming conventions, module renaming, documentation and formatting practices
March 2026
February 2026
2 Commits • 1 Features
Feb 1, 2026February 2026 monthly summary for ROAR-QUTRC/perseus-v2 focused on build reliability, data quality, and deployment flexibility. Delivered a key build-system upgrade and a comprehensive sensor data processing pipeline with RealSense integration and dynamic topic remapping. The changes emphasize business value through more robust builds, higher-fidelity sensor fusion, and bandwidth-efficient streaming.
February 2026
2 Commits • 1 Features
Feb 1, 2026February 2026 monthly summary for ROAR-QUTRC/perseus-v2 focused on build reliability, data quality, and deployment flexibility. Delivered a key build-system upgrade and a comprehensive sensor data processing pipeline with RealSense integration and dynamic topic remapping. The changes emphasize business value through more robust builds, higher-fidelity sensor fusion, and bandwidth-efficient streaming.
January 2026
41 Commits • 25 Features
Jan 1, 2026In January 2026, Perseus v2 delivered a cohesive set of high-impact features across simulation realism, sensing integration, autonomous navigation, and UI tooling, paired with targeted bug fixes to boost reliability and maintainability. Key work spanned URDF and sensor integration updates, simulation world enhancements, and a major messaging overhaul; accompanied by foundational work for autonomous waypoint handling and a robust navigation behavior tree. Visualization and operator UX were improved for easier debugging and faster validation in both RViz and live image streaming. Several maintenance items (license, parameter tuning, and cleanup) reduced technical debt and alignment risk, enabling faster future iterations and safer field deployments.
41 Commits • 25 Features
Jan 1, 2026In January 2026, Perseus v2 delivered a cohesive set of high-impact features across simulation realism, sensing integration, autonomous navigation, and UI tooling, paired with targeted bug fixes to boost reliability and maintainability. Key work spanned URDF and sensor integration updates, simulation world enhancements, and a major messaging overhaul; accompanied by foundational work for autonomous waypoint handling and a robust navigation behavior tree. Visualization and operator UX were improved for easier debugging and faster validation in both RViz and live image streaming. Several maintenance items (license, parameter tuning, and cleanup) reduced technical debt and alignment risk, enabling faster future iterations and safer field deployments.
January 2026
December 2025
18 Commits • 3 Features
Dec 1, 2025December 2025 highlights for ROAR-QUTRC/perseus-v2: Key features delivered include IMU frame_id alignment with Gazebo integration to ensure correct frame association and accurate simulation, EKF-based odometry integration for the simulator with updated controller parameters, EKF configuration, and launch flow, and comprehensive URDF/localization documentation modernization guided by EKF considerations. Major maintenance and cleanup included removing obsolete EKF configurations, conflict markers, and outdated documentation to improve maintainability and onboarding. Overall, these efforts enhance simulation fidelity, localization reliability, and system maintainability, enabling faster iteration and clearer handoffs.
December 2025
18 Commits • 3 Features
Dec 1, 2025December 2025 highlights for ROAR-QUTRC/perseus-v2: Key features delivered include IMU frame_id alignment with Gazebo integration to ensure correct frame association and accurate simulation, EKF-based odometry integration for the simulator with updated controller parameters, EKF configuration, and launch flow, and comprehensive URDF/localization documentation modernization guided by EKF considerations. Major maintenance and cleanup included removing obsolete EKF configurations, conflict markers, and outdated documentation to improve maintainability and onboarding. Overall, these efforts enhance simulation fidelity, localization reliability, and system maintainability, enabling faster iteration and clearer handoffs.
November 2025
12 Commits • 1 Features
Nov 1, 2025November 2025 highlights for the ROAR-QUTRC Perseus v2 rover project. Delivered a comprehensive URDF/XACRO refactor across the robot model, sensor suite, and drive components to standardize mass, inertia, collision geometry, and mesh scaling, improving simulation fidelity and stability. Implemented ARUCO-based visualization enhancements and updated textures to enable accurate localization and visualization during autonomous testing. Built the Perseus Arc Challenge world with ArUco markers, walls, obstacles, and visualization configurations to support realistic scenario testing and validation. Enhanced Gazebo integration and data flow with gz_bridge.yaml updates for clearer topic management and sensor data routing. Performed extensive maintenance cleanups, including removal of unused properties and corrected wheel/rotor orientations, setting the stage for faster iteration and future feature work.
12 Commits • 1 Features
Nov 1, 2025November 2025 highlights for the ROAR-QUTRC Perseus v2 rover project. Delivered a comprehensive URDF/XACRO refactor across the robot model, sensor suite, and drive components to standardize mass, inertia, collision geometry, and mesh scaling, improving simulation fidelity and stability. Implemented ARUCO-based visualization enhancements and updated textures to enable accurate localization and visualization during autonomous testing. Built the Perseus Arc Challenge world with ArUco markers, walls, obstacles, and visualization configurations to support realistic scenario testing and validation. Enhanced Gazebo integration and data flow with gz_bridge.yaml updates for clearer topic management and sensor data routing. Performed extensive maintenance cleanups, including removal of unused properties and corrected wheel/rotor orientations, setting the stage for faster iteration and future feature work.
November 2025
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Quality Metrics
Correctness95.2%
Maintainability92.4%
Architecture93.0%
Performance92.6%
AI Usage23.6%
Skills & Technologies
Programming Languages
CC++CMakeGitHTMLJSONJavaScriptMarkdownN/ANix
Technical Skills
3D Modeling3D modelingBuild ConfigurationBuild SystemsC++C++ DevelopmentC++ developmentC++ programmingCMakeCamera integrationComputer VisionConfiguration managementControl SystemsDependency ManagementDependency management
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