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<!DOCTYPE HTML>
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<title>Erwin Lejeune - Roboticist</title>
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<h1 id="colorlib-logo"><a href="https://guilyx.github.io">Erwin Lejeune</a></h1>
<p><strong>Roboticist</strong></p>
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<h2>Robotics and Mechatronics</h2>
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<a href="https://github.com/robotcraft19" style="text-decoration:none;">
<div>
<h4 class="mb-3">Amazebot</h4>
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<p>Repositories containing the arduino firmware, ros driver, ros pathfinding implementation of the Amazebot robot (differential robot).</p>
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<span class='badge badge-secondary'>ROS</span>
<span class='badge badge-secondary'>C++</span>
<span class='badge badge-secondary'>Python</span>
<span class='badge badge-secondary'>Robotics</span>
<span class='badge badge-secondary'>Arduino</span>
<span class='badge badge-secondary'>Pathfinding</span>
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<a href="https://github.com/guilyx/autonomous-uav" style="text-decoration:none;">
<div>
<h4 class="mb-3">Autonomous UAV</h4>
</div>
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class="resume-item d-flex flex-column flex-md-row justify-content-between mb-3">
<div id="divMain">
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<img style='float:left; margin:0 10px;' width='300px;' class='img-fluid'
src='https://raw.githubusercontent.com/Guilyx/autonomous-uav/master/misc/planning.gif'>
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<div id='right-div' class='resume-content'>
<div class="subheading mb-0">
<p>Udacity Flying Cars Nanodegree repository : contains 2D/3D pathfinding solutions, a cascaded controller and an extended kalman filter.</p>
</div>
<div class="mb-0">
<span class='badge badge-secondary'>Python</span>
<span class='badge badge-secondary'>C++</span>
<span class='badge badge-secondary'>Drone</span>
<span class='badge badge-secondary'>Robotics</span>
<span class='badge badge-secondary'>UAV</span>
<span class='badge badge-secondary'>Pathfinding</span>
<span class='badge badge-secondary'>Control</span>
<span class='badge badge-secondary'>Estimations</span>
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onmouseover="document.querySelector('#colorlib-main > section.colorlib-skills > div > div > div:nth-child(3) > article > ul > li:nth-child(1) > div > a > div:nth-child(1)').style.backgroundColor='#78C2AD'"
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<a href="https://github.com/mastererts/ros_xenomai_bridge" style="text-decoration:none;">
<div>
<h4 class="mb-3">ROS/Xenomai XDDP Communication</h4>
</div>
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class="resume-item d-flex flex-column flex-md-row justify-content-between mb-3">
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src='images/projects/reactive_nav_rt.png'>
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<div id='right-div' class='resume-content'>
<div class="subheading mb-0">
<p>A ROS Stack wrapping Xenomai's XDDP protocol function in Classes and demo packages such as an Echo application and a Navigation package.</p>
</div>
<div class="mb-0">
<span class='badge badge-secondary'>ROS</span>
<span class='badge badge-secondary'>Xenomai</span>
<span class='badge badge-secondary'>C++</span>
<span class='badge badge-secondary'>Real-Time</span>
<span class='badge badge-secondary'>Robotics</span>
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<br>
<iframe src="https://ghbtns.com/github-btn.html?user=mastererts&repo=ros_xenomai_bridge&type=watch&count=true&size=small&v=2" frameborder="0" scrolling="0" width="100px" height="30px"></iframe>
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<a href="https://github.com/mastererts/ros2_realtime_statistics" style="text-decoration:none;">
<div>
<h4 class="mb-3">ROS2 Realtime Statistics Toolbox</h4>
</div>
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<p>A ROS2 package allowing convertion from realtime statistics topics to json, and from json to plots.</p>
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<span class='badge badge-secondary'>ROS2</span>
<span class='badge badge-secondary'>Python</span>
<span class='badge badge-secondary'>Real-Time</span>
<span class='badge badge-secondary'>Inverted Pendulum</span>
<span class='badge badge-secondary'>Plot</span>
<span class='badge badge-secondary'>Data Analysis</span>
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<a href="https://github.com/mastererts/dual_arm" style="text-decoration:none;">
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<h4 class="mb-3">Dual Planar Arm</h4>
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<p>A ROS Stack to control a planar arm with another planar arm's movements. (tf, services)</p>
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<span class='badge badge-secondary'>ROS</span>
<span class='badge badge-secondary'>Python</span>
<span class='badge badge-secondary'>Dual Arms</span>
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</a>
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<a href="https://github.com/masterets/xenomai-latency-plotter" style="text-decoration:none;">
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<h4 class="mb-3">Latencies Plotting Toolbox</h4>
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<p>A set of scripts to generate plots from Xenomai's latency test and Cyclictest.</p>
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<span class='badge badge-secondary'>Python</span>
<span class='badge badge-secondary'>Xenomai</span>
<span class='badge badge-secondary'>Data Analysis</span>
<span class='badge badge-secondary'>Real-Time</span>
<span class='badge badge-secondary'>Statistics</span>
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<h4 class="mb-3">Differential Robot Simulator</h4>
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<p>Wheeled robot simulator offering sensor bearing, robot following and obstacle avoidance. All plotted with matplotlib.</p>
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<span class='badge badge-secondary'>C++</span>
<span class='badge badge-secondary'>Motion Control</span>
<span class='badge badge-secondary'>Sensor Fusion</span>
<span class='badge badge-secondary'>Wheeled Robotics</span>
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<h4 class="mb-3">Python Pathfinding Algorithms</h4>
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<p>Implementation of A*, DFS, Dijkstra, BFS, Bidirectional A* and Spanning Tree algorithms for Grids. Plotted with matplotlib and/or CLI.</p>
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<span class='badge badge-secondary'>Pathfinding</span>
<span class='badge badge-secondary'>Python</span>
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<p>ROS implemention of a bird swarm (scalable) a leader publishes its position and followers subscribe to it and follow (with a P controller).</p>
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<span class='badge badge-secondary'>ROS</span>
<span class='badge badge-secondary'>C++</span>
<span class='badge badge-secondary'>Swarms</span>
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