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
Francisco Rodríguez developed core robotics features for the ARUSfs/DRIVERLESS2 repository, focusing on robust path following, motor control, and device integration. He implemented a Pure Pursuit path-following system in C++ to improve trajectory tracking and controller reliability, and refactored the codebase for maintainability using CMake and ROS 2. Francisco overhauled the EPOS motor interface, introducing dynamic linking and CANopen-based device communication, and enhanced position offset management for calibration accuracy. His work included memory management improvements, new data subscriptions, and expanded test coverage, resulting in safer autonomous operation and a solid foundation for future enhancements 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
143 people
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
Loading activity data...
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
Overview of all repositories you've contributed to across your timeline