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darshmenon/README.md

Hi, I'm Darsh Menon 👋

Robotics Developer | Autonomous Systems | ROS 2 | AI
Building intelligent robotic systems using perception, planning, and control
Robotics Developer at Asimov Robotics
RoboCloud Dashboard • Portfolio

Tech Stack

Robotics & Simulation
UR5 Robotiq MoveIt2 Gazebo RViz ROS2

Programming & Tools
Python C++ OpenCV TensorFlow Git Ubuntu

Featured Projects

Autonomous Pick-and-Place System (UR5 + Robotiq)

Vision-based manipulation system using ROS 2, MoveIt 2, and Gazebo.

  • IK-based motion planning with MoveIt Task Constructor
  • Integrated perception pipeline and gripper control
  • Collision-aware execution and simulation-to-real workflow

🔗 Read on Medium

ROS 2 Navigation (SLAM Toolbox + Nav2)

End-to-end navigation pipeline from mapping to localization and obstacle avoidance.

  • SLAM Toolbox with Nav2 (ROS 2 Jazzy)
  • Costmaps, TF tuning, and YAML configuration
  • Tested in Gazebo with real-time visualization

🔗 Read Full Guide

Core Interests

  • Motion Planning (OMPL, Inverse Kinematics)
  • Robot Perception (Depth, Point Clouds, Vision)
  • Task Planning (MoveIt Task Constructor)
  • Navigation (SLAM, LiDAR, Costmaps)
  • Autonomous System Deployment

GitHub Stats

Connect

“The best way to predict the future is to build it.” – Alan Kay

Pinned Loading

  1. UR3_ROS2_PICK_AND_PLACE UR3_ROS2_PICK_AND_PLACE Public

    UR Robotic Arm with Robotiq 2-Finger Gripper for ROS2

    C++ 35 5

  2. pickplace-rl-mobile-manipulator pickplace-rl-mobile-manipulator Public

    Mobile manipulator pick-and-place via reinforcement learning — UR3 arm on a diff-drive base, trained end-to-end with TQC in Gazebo/ROS2

    C++ 24

  3. rosnav rosnav Public

    Full-stack ROS 2 autonomous navigation: Nav2, SLAM Toolbox, Gazebo Harmonic, multi-robot fleet coordination, coordinated frontier exploration, MPPI controller, behavior trees & waypoint following o…

    Python 10 2

  4. ur-arm-rl ur-arm-rl Public

    Reinforcement learning environment for UR5e arms with MuJoCo 3 — SAC training for reach, pick-and-place, and symmetric multi-arm cooperative tasks. Includes a ROS 2 policy node for Gazebo deployment.

    Python 2

  5. quadruped-dog-rl quadruped-dog-rl Public

    Quadruped robot dog walking simulation and RL policy training

    Python 2