Portfolio
Doosan ROS 2 Motion Planning Lab
ROS 2 JazzyPythonC++DockerMoveIt 2RViz 2GazeboDoosan
Robotics software project focused on modular trajectory generation, motion execution, robot abstraction and reproducible simulation workflows.
Project summary
Built a modular ROS 2 simulation environment for trajectory planning and motion execution with a Doosan M1013 robot.
Key outcomes
- Built and validated a ROS 2 Jazzy environment on Ubuntu 24.04 with a simulated Doosan M1013 robot and Docker-based tooling.
- Worked with service-based motion execution and modular separation between motion requests and robot-specific implementations.
- Designed concepts for trajectory generation, execution requests, robot-adapter abstraction, telemetry and mock adapters.
- Used MoveIt 2, RViz 2 and Gazebo for planning, visualization and simulation.