itu-auv/auv-software
Nov 2024 – Aug 2025
3 Months active
Languages Used
CMakeXMLYAMLPythonXacro
Technical Skills
Build System ConfigurationCode OrganizationConfiguration ManagementDependency ManagementProject Structure ManagementRobotics Control
ozanhakantunca
PROFILE
Ozanhakantunca
Worked on the itu-auv/auv-software repository, delivering features and fixes across perception, localization, and control for autonomous underwater vehicles. Focused on maintainable project structure, the developer refactored module organization and improved dependency management using CMake and XML, reducing build errors and supporting future navigation features. Enhanced the autonomy stack by refining state machine formatting and increasing frame alignment robustness in ROS-based systems, leveraging Python and smach for reliable mission execution. Upgraded the vision model and tuned EKF-based localization, calibrating sensor parameters and URDF camera placement to improve accuracy and simulation fidelity, while maintaining disciplined configuration management for safer deployments.
Overall Statistics
Feature vs Bugs
63%Features
Repository Contributions
12Total
Bugs
3
Commits
12
Features
5
Lines of code
77
Activity Months3
Your Network
7 peopleWork History
August 2025
6 Commits • 3 Features
Aug 1, 2025August 2025: Delivered key improvements across perception, localization, and simulation integration for the itu-auv/auv-software stack. Implemented Vision Model Upgrade to epoch-89.pt with aligned launch configurations, topic subscriptions, and image annotation storage, improving model usage consistency and data flow. Tuned EKF-based localization with higher update frequency, odom2 adjustments, and refined depth covariance and DVL/pressure offsets, boosting localization accuracy. Tweaked camera placement (URDF X-axis) and environment pool depth to reflect more accurate sensing and simulation conditions. These changes, coupled with disciplined change management, reduce field deployment risk and accelerate safe autonomous operations.
6 Commits • 3 Features
Aug 1, 2025August 2025: Delivered key improvements across perception, localization, and simulation integration for the itu-auv/auv-software stack. Implemented Vision Model Upgrade to epoch-89.pt with aligned launch configurations, topic subscriptions, and image annotation storage, improving model usage consistency and data flow. Tuned EKF-based localization with higher update frequency, odom2 adjustments, and refined depth covariance and DVL/pressure offsets, boosting localization accuracy. Tweaked camera placement (URDF X-axis) and environment pool depth to reflect more accurate sensing and simulation conditions. These changes, coupled with disciplined change management, reduce field deployment risk and accelerate safe autonomous operations.
August 2025
July 2025
2 Commits • 1 Features
Jul 1, 2025July 2025 summary for itu-auv/auv-software: Focused on quality and reliability of the autonomy stack. Key features delivered: Gate State Machine Formatting Cleanup to align the smach StateMachine with ENABLE_GATE_TRAJECTORY_PUBLISHER, improving readability and future maintainability. Major bug fixed: Frame Alignment Robustness by changing the default transform lookup time to rospy.Time(0), enabling waiting for a valid transform and increasing frame alignment reliability. These changes reduce operational risk and support more stable mission execution. Technologies/skills demonstrated: ROS, smach state machines, transform handling with rospy.Time, code quality tooling (pre-commit). Business value: higher system stability, easier onboarding for new engineers, and faster iteration on autonomy behaviors.
July 2025
2 Commits • 1 Features
Jul 1, 2025July 2025 summary for itu-auv/auv-software: Focused on quality and reliability of the autonomy stack. Key features delivered: Gate State Machine Formatting Cleanup to align the smach StateMachine with ENABLE_GATE_TRAJECTORY_PUBLISHER, improving readability and future maintainability. Major bug fixed: Frame Alignment Robustness by changing the default transform lookup time to rospy.Time(0), enabling waiting for a valid transform and increasing frame alignment reliability. These changes reduce operational risk and support more stable mission execution. Technologies/skills demonstrated: ROS, smach state machines, transform handling with rospy.Time, code quality tooling (pre-commit). Business value: higher system stability, easier onboarding for new engineers, and faster iteration on autonomy behaviors.
November 2024
4 Commits • 1 Features
Nov 1, 2024Month 2024-11: Focused on stability, maintainability, and safe vehicle control in itu-auv/auv-software. Delivered structural refactor and configuration fixes that improve build reliability and readiness for navigation features: relocated auv_localization under auv_navigation with updated dependencies to improve organization and linking; corrected dependency versions in package.xml to prevent build/run-time errors; fixed thruster mapping configuration to ensure correct control channels. These changes reduce maintenance toil, lower risk of CI failures, and support safer, more predictable maneuvering.
4 Commits • 1 Features
Nov 1, 2024Month 2024-11: Focused on stability, maintainability, and safe vehicle control in itu-auv/auv-software. Delivered structural refactor and configuration fixes that improve build reliability and readiness for navigation features: relocated auv_localization under auv_navigation with updated dependencies to improve organization and linking; corrected dependency versions in package.xml to prevent build/run-time errors; fixed thruster mapping configuration to ensure correct control channels. These changes reduce maintenance toil, lower risk of CI failures, and support safer, more predictable maneuvering.
November 2024
Activity
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Quality Metrics
Correctness88.4%
Maintainability91.6%
Architecture90.0%
Performance83.4%
AI Usage20.0%
Skills & Technologies
Programming Languages
CMakePythonXMLXacroYAML
Technical Skills
Build System ConfigurationCode OrganizationComputer VisionConfigurationConfiguration ManagementControl SystemsDependency ManagementLocalizationProject Structure ManagementROSRoboticsRobotics ControlSensor CalibrationState MachinesURDF
Repositories Contributed To
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