ROAR-QUTRC/perseus-v2
Nov 2025 – Jan 2026
3 Months active
Languages Used
PythonXACROXMLMarkdownYAMLCC++CMake
Technical Skills
3D Modeling3D modelingROSSimulation DevelopmentURDFXACRO
Kelvin Le
PROFILE
Kelvin Le
Overall Statistics
Feature vs Bugs
83%Features
Repository Contributions
71Total
Bugs
6
Commits
71
Features
29
Lines of code
11,233
Activity Months3
Your Network
13 people
Work History
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
Activity
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Quality Metrics
Correctness95.0%
Maintainability91.6%
Architecture92.8%
Performance91.8%
AI Usage23.8%
Skills & Technologies
Programming Languages
CC++CMakeHTMLJSONJavaScriptMarkdownNixPythonSvelte
Technical Skills
3D Modeling3D modelingC++C++ DevelopmentC++ developmentC++ programmingCMakeGazeboJavaScriptKalman filteringNix package managementNode DevelopmentPythonPython scriptingROS
Repositories Contributed To
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