itu-auv/auv-software
Feb 2025 – Apr 2026
11 Months active
Languages Used
C++PythonROSXMLYAMLCMakeCOLLADAURDF
Technical Skills
C++Configuration ManagementControl SystemsEmbedded SystemsGazeboROS
Melih Okur
PROFILE
Melih Okur
Developed and maintained the itu-auv/auv-software repository, delivering a robust autonomous underwater vehicle (AUV) control and simulation stack over 11 months. Work spanned navigation, perception, and operator interfaces, with features such as dynamic path planning, simulation asset integration, and GUI-based teleoperation. Leveraged Python, C++, and ROS to implement state machines, sensor fusion, and real-time control systems, while refining URDF models and build configurations for reliability. Addressed mission-critical bugs and enhanced system observability, enabling safer, more predictable deployments. The technical approach emphasized modularity, maintainability, and data-driven decision-making, supporting both simulation fidelity and real-world AUV operations in dynamic environments.
Overall Statistics
Feature vs Bugs
76%Features
Repository Contributions
85Total
Bugs
16
Commits
85
Features
50
Lines of code
28,836
Activity Months11
Your Network
7 peopleWork History
April 2026
2 Commits • 1 Features
Apr 1, 2026April 2026 monthly summary for itu-auv/auv-software. Delivered enhancements to the AUV Teleoperation System including GUI improvements, DVL validity checks, IMU calibration, and safe pose clamping in the reference pose publisher to constrain cmd_pose within safe limits. Implemented parameterized maximum offsets to stabilize command velocity actions. Two commits coordinated: 3a8b614b3bf020573738c42dd3f26ffbdc2f1525 (gui adds (#618)) and af2225ffdfa8a44bfd327453b5b5114c2b869f5b (Clamp cmd_pose while integrating cmd_vel). Result: improved operator safety, stability under dynamic loads, and mission reliability in teleoperation tasks.
2 Commits • 1 Features
Apr 1, 2026April 2026 monthly summary for itu-auv/auv-software. Delivered enhancements to the AUV Teleoperation System including GUI improvements, DVL validity checks, IMU calibration, and safe pose clamping in the reference pose publisher to constrain cmd_pose within safe limits. Implemented parameterized maximum offsets to stabilize command velocity actions. Two commits coordinated: 3a8b614b3bf020573738c42dd3f26ffbdc2f1525 (gui adds (#618)) and af2225ffdfa8a44bfd327453b5b5114c2b869f5b (Clamp cmd_pose while integrating cmd_vel). Result: improved operator safety, stability under dynamic loads, and mission reliability in teleoperation tasks.
April 2026
March 2026
4 Commits • 3 Features
Mar 1, 2026Month 2026-03 monthly summary for itu-auv/auv-software focusing on feature pruning, stability improvements, and autonomous capabilities expansion. Highlights include removal of legacy YOLO image annotator to simplify deployment, targeted fixes for thruster alignment in the URDF, substantive Taluy mini project enhancements across cameras, localization, and navigation, and the introduction of dynamic and static path planning with improved yaw handling and legacy code cleanup. These changes reduce maintenance burden, improve mission reliability, and accelerate bring-up of autonomous capabilities across sensing and control subsystems.
March 2026
4 Commits • 3 Features
Mar 1, 2026Month 2026-03 monthly summary for itu-auv/auv-software focusing on feature pruning, stability improvements, and autonomous capabilities expansion. Highlights include removal of legacy YOLO image annotator to simplify deployment, targeted fixes for thruster alignment in the URDF, substantive Taluy mini project enhancements across cameras, localization, and navigation, and the introduction of dynamic and static path planning with improved yaw handling and legacy code cleanup. These changes reduce maintenance burden, improve mission reliability, and accelerate bring-up of autonomous capabilities across sensing and control subsystems.
February 2026
7 Commits • 6 Features
Feb 1, 2026February 2026 (2026-02) performance summary for itu-auv/auv-software. Delivered a robust set of features and reliability improvements across the control, perception, and operations stack, with a clear focus on increasing observability, data capture capabilities, pose/depth accuracy, and operator ergonomics. The work enhances mission reliability, data analytics, and autonomous decision-making while reducing operational latency and risk.
7 Commits • 6 Features
Feb 1, 2026February 2026 (2026-02) performance summary for itu-auv/auv-software. Delivered a robust set of features and reliability improvements across the control, perception, and operations stack, with a clear focus on increasing observability, data capture capabilities, pose/depth accuracy, and operator ergonomics. The work enhances mission reliability, data analytics, and autonomous decision-making while reducing operational latency and risk.
February 2026
January 2026
4 Commits • 2 Features
Jan 1, 2026January 2026 monthly summary for itu-auv/auv-software: Focused on delivering operator capabilities, improving pose reliability, and enabling torpedo task automation. Key features delivered include enhanced teleoperation controls with roll/pitch remap and a reset orientation service, plus torpedo camera integration with URDF alignment and updated detection logic. A critical reliability fix was implemented to ensure pose publishing uses the correct odometry frame when alignment is deactivated. These efforts tightened operator control, increased mission reliability, and positioned the project for sim/test readiness and expanded autonomous tasks.
January 2026
4 Commits • 2 Features
Jan 1, 2026January 2026 monthly summary for itu-auv/auv-software: Focused on delivering operator capabilities, improving pose reliability, and enabling torpedo task automation. Key features delivered include enhanced teleoperation controls with roll/pitch remap and a reset orientation service, plus torpedo camera integration with URDF alignment and updated detection logic. A critical reliability fix was implemented to ensure pose publishing uses the correct odometry frame when alignment is deactivated. These efforts tightened operator control, increased mission reliability, and positioned the project for sim/test readiness and expanded autonomous tasks.
August 2025
17 Commits • 5 Features
Aug 1, 2025Month: 2025-08 — Delivered a suite of feature-rich enhancements and robustness fixes for the Itu-AUV software stack (itu-auv/auv-software). Key outcomes include: enhanced simulation environment with new assets (reef sharks and sawfish) and refined sensor/URDF configurations for hydrophone and Taluy Robosub launch; GPS-based navigation and targeting improvements with configurable facing distance and robustness improvements; pipeline trajectory following integration, including a ROS node for transforms and visualization within the navigation state machine; underwater acoustic communication states added to the AUV state machine enabling unit-to-unit coordination; yaw navigation mode enabling two full yaw rotations with corresponding launch/script updates; and a robustness-focused bin handling state machine adjustment to improve transform lookups, default values for missing frames, and dynamic target selection for bin links. These changes collectively increase testing fidelity, mission reliability, and autonomous coordination in underwater operations, while advancing CI-friendly configuration and observability.
17 Commits • 5 Features
Aug 1, 2025Month: 2025-08 — Delivered a suite of feature-rich enhancements and robustness fixes for the Itu-AUV software stack (itu-auv/auv-software). Key outcomes include: enhanced simulation environment with new assets (reef sharks and sawfish) and refined sensor/URDF configurations for hydrophone and Taluy Robosub launch; GPS-based navigation and targeting improvements with configurable facing distance and robustness improvements; pipeline trajectory following integration, including a ROS node for transforms and visualization within the navigation state machine; underwater acoustic communication states added to the AUV state machine enabling unit-to-unit coordination; yaw navigation mode enabling two full yaw rotations with corresponding launch/script updates; and a robustness-focused bin handling state machine adjustment to improve transform lookups, default values for missing frames, and dynamic target selection for bin links. These changes collectively increase testing fidelity, mission reliability, and autonomous coordination in underwater operations, while advancing CI-friendly configuration and observability.
August 2025
July 2025
38 Commits • 24 Features
Jul 1, 2025July 2025: Delivered a substantial upgrade to autonomous navigation, reliability, and operator visibility for the AUV software stack. Focused on dynamic path planning, state-machine robustness, and stability fixes to support safer, more efficient missions. This summary highlights the key features delivered, major bugs fixed, and the business value generated.
July 2025
38 Commits • 24 Features
Jul 1, 2025July 2025: Delivered a substantial upgrade to autonomous navigation, reliability, and operator visibility for the AUV software stack. Focused on dynamic path planning, state-machine robustness, and stability fixes to support safer, more efficient missions. This summary highlights the key features delivered, major bugs fixed, and the business value generated.
June 2025
4 Commits • 2 Features
Jun 1, 2025June 2025 (itu-auv/auv-software) focused on expanding autonomous simulation capabilities and solidifying the perception/rotation pipeline. Key features delivered include: Simulation Enhancements with bin and torpedo mission support, visualization assets, and initial torpedo velocity settings; gate trajectory improvements via a parallel offset along the gate normal with a new offset parameter and transformation function. A major refactor of the state machine introduced SearchForPropState to consolidate detection and alignment flows, improving code reuse and reliability. A bug fix addressed transform availability timeout when full_rotation is disabled to prevent lookup failures and ensure smoother operation. These changes collectively improve simulation fidelity, enable more robust autonomous testing, and reduce operational risk in perception and navigation tasks.
4 Commits • 2 Features
Jun 1, 2025June 2025 (itu-auv/auv-software) focused on expanding autonomous simulation capabilities and solidifying the perception/rotation pipeline. Key features delivered include: Simulation Enhancements with bin and torpedo mission support, visualization assets, and initial torpedo velocity settings; gate trajectory improvements via a parallel offset along the gate normal with a new offset parameter and transformation function. A major refactor of the state machine introduced SearchForPropState to consolidate detection and alignment flows, improving code reuse and reliability. A bug fix addressed transform availability timeout when full_rotation is disabled to prevent lookup failures and ensure smoother operation. These changes collectively improve simulation fidelity, enable more robust autonomous testing, and reduce operational risk in perception and navigation tasks.
June 2025
May 2025
2 Commits • 1 Features
May 1, 2025May 2025 monthly summary for itu-auv/auv-software. This period focused on stability improvements to the GUI and the introduction of a new simulation obstacle (slalom pipes) with associated world integration and launch configuration updates, enhancing testing fidelity and readiness for real-world trials.
May 2025
2 Commits • 1 Features
May 1, 2025May 2025 monthly summary for itu-auv/auv-software. This period focused on stability improvements to the GUI and the introduction of a new simulation obstacle (slalom pipes) with associated world integration and launch configuration updates, enhancing testing fidelity and readiness for real-world trials.
April 2025
3 Commits • 3 Features
Apr 1, 2025April 2025 monthly summary for itu-auv/auv-software focusing on navigation, control, and build-system reliability. Delivered key features to enhance depth accuracy, operator workflow, and deployment robustness, with targeted fixes to transform logging and ROS message generation. Impact includes improved navigation fidelity, faster operator onboarding, and more predictable CI/CD behavior across the AUV software stack.
3 Commits • 3 Features
Apr 1, 2025April 2025 monthly summary for itu-auv/auv-software focusing on navigation, control, and build-system reliability. Delivered key features to enhance depth accuracy, operator workflow, and deployment robustness, with targeted fixes to transform logging and ROS message generation. Impact includes improved navigation fidelity, faster operator onboarding, and more predictable CI/CD behavior across the AUV software stack.
April 2025
March 2025
1 Commits • 1 Features
Mar 1, 2025March 2025 monthly summary for itu-auv/auv-software: Completed a structural refactor and build-system integration to improve maintainability and build reliability. No major bugs fixed this month. Overall impact includes better modularity, more predictable CI builds, and readiness for hardware-packaged releases.
March 2025
1 Commits • 1 Features
Mar 1, 2025March 2025 monthly summary for itu-auv/auv-software: Completed a structural refactor and build-system integration to improve maintainability and build reliability. No major bugs fixed this month. Overall impact includes better modularity, more predictable CI builds, and readiness for hardware-packaged releases.
February 2025
3 Commits • 2 Features
Feb 1, 2025February 2025: Delivered core simulation visualization and operator control improvements for the AUV software suite. Key releases enable improved situational awareness, safer actuation, and broader operator interfaces, with a focus on alignment between simulation capabilities and real-world control.
3 Commits • 2 Features
Feb 1, 2025February 2025: Delivered core simulation visualization and operator control improvements for the AUV software suite. Key releases enable improved situational awareness, safer actuation, and broader operator interfaces, with a focus on alignment between simulation capabilities and real-world control.
February 2025
Activity
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Quality Metrics
Correctness82.4%
Maintainability81.0%
Architecture79.6%
Performance72.4%
AI Usage21.6%
Skills & Technologies
Programming Languages
C++CMakeCOLLADAConfigurationGLSLPythonROSSDFShellURDF
Technical Skills
3D Modeling3D modelingAUV ConfigurationAsset IntegrationAutonomous Underwater Vehicles (AUVs)Build System ConfigurationBuild SystemsC++C++ DevelopmentCMakeCommunication ProtocolsComputer VisionConfigurationConfiguration ManagementControl Systems
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