ARUSfs/DRIVERLESS2
Nov 2024 – Jan 2025
3 Months active
Languages Used
C++YAMLCCMakePythonShell
Technical Skills
C++Control SystemsPath PlanningROS2RoboticsSoftware Development
Francis Rojas
PROFILE
Francis Rojas
Over a three-month period, contributed to ARUSfs/DRIVERLESS2 by developing and refining core robotics features using C++, Python, and ROS 2. Delivered a Pure Pursuit path-following system and stabilized the controller node to enhance trajectory tracking and autonomous safety. Overhauled the EPOS motor control interface, integrating dynamic linking and refactoring the codebase for maintainability and future ROS 2 upgrades. Introduced a CANopen-based EPOS interface with improved position offset management and real-time data subscriptions, increasing calibration accuracy and data visibility. Emphasized robust device communication, modular architecture, and maintainable code, addressing both feature development and reliability in embedded robotics systems.
Overall Statistics
Feature vs Bugs
75%Features
Repository Contributions
9Total
Bugs
1
Commits
9
Features
3
Lines of code
1,795
Activity Months3
Your Network
144 peopleShared Repositories
14
vigneshkeerthivasanxMember
AlejandroMember
alvarolp02Member
Ángel García EscuderoMember
Pepe CoralMember
David Guil BarrancoMember
arusMember
FrancisMember
Alvaro GalisteoMember
Work History
January 2025
2 Commits • 1 Features
Jan 1, 2025January 2025: Delivered a major feature upgrade for ARUSfs/DRIVERLESS2 by integrating a CANopen-based EPOS interface and position offset management. Implemented device connection via CANopen, updated the position offset calculation, and added subscriptions for extensometer data and range check status to enable real-time reception and processing. Strengthened testing with set_position_offset validation. This work improves interoperability, calibration accuracy, and data visibility for safety-critical operations.
2 Commits • 1 Features
Jan 1, 2025January 2025: Delivered a major feature upgrade for ARUSfs/DRIVERLESS2 by integrating a CANopen-based EPOS interface and position offset management. Implemented device connection via CANopen, updated the position offset calculation, and added subscriptions for extensometer data and range check status to enable real-time reception and processing. Strengthened testing with set_position_offset validation. This work improves interoperability, calibration accuracy, and data visibility for safety-critical operations.
January 2025
December 2024
3 Commits • 1 Features
Dec 1, 2024December 2024: Delivered EPOS interface overhaul integrated with ROS 2 for the ARUS Driverless pipeline. Consolidated the EPOS interface, introduced C++ and Python-based ROS 2 nodes, and enabled dynamic linking to the EPOS command library. Refactored the codebase into dedicated source/header files and updated build/configuration for maintainability and easier ROS 2 upgrades. Implemented memory management fixes and node reformatting to improve stability; split epos_interface_node into cpp and hpp for clearer interfaces. These changes reduce maintenance burden, enable smoother deployments, and set the stage for future enhancements.
December 2024
3 Commits • 1 Features
Dec 1, 2024December 2024: Delivered EPOS interface overhaul integrated with ROS 2 for the ARUS Driverless pipeline. Consolidated the EPOS interface, introduced C++ and Python-based ROS 2 nodes, and enabled dynamic linking to the EPOS command library. Refactored the codebase into dedicated source/header files and updated build/configuration for maintainability and easier ROS 2 upgrades. Implemented memory management fixes and node reformatting to improve stability; split epos_interface_node into cpp and hpp for clearer interfaces. These changes reduce maintenance burden, enable smoother deployments, and set the stage for future enhancements.
November 2024
4 Commits • 1 Features
Nov 1, 2024Performance summary for 2024-11 for ARUSfs/DRIVERLESS2. Focused on delivering a robust path-following capability (Pure Pursuit) and stabilizing the controller to improve reliability, trajectory tracking, and maintainability. Resulted in safer autonomous operation and a foundation for future enhancements.
4 Commits • 1 Features
Nov 1, 2024Performance summary for 2024-11 for ARUSfs/DRIVERLESS2. Focused on delivering a robust path-following capability (Pure Pursuit) and stabilizing the controller to improve reliability, trajectory tracking, and maintainability. Resulted in safer autonomous operation and a foundation for future enhancements.
November 2024
Activity
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Quality Metrics
Correctness77.8%
Maintainability82.2%
Architecture77.8%
Performance69.0%
AI Usage22.2%
Skills & Technologies
Programming Languages
CC++CMakePythonShellYAML
Technical Skills
C++CMakeControl SystemsDevice DriversDynamic LinkingEmbedded SystemsMotor ControlPath PlanningPythonROSROS 2ROS2RoboticsSoftware Development
Repositories Contributed To
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