codes

Coding (especially robot programming) and sharing my work publicly is a hobby I really love.💻
This page introduces some of my popular repositories.

Nav2 plugin for Dynamic Window Pure Pursuit (DWPP) controller.

DWPP is a novel extension of the Pure Pursuit method that computes command velocities while considering the robot’s velocity and acceleration constraints. I first proposed this method at IAS-19 (news).

I also presented this work at ROSCon JP 2025 (in Japanese).

本取り組みをROSConJP 2025にて発表しました．スライド (docswell)，動画 (YouTube)

A WebGUI for publishing 2D Nav Goal (geometry_msgs::PoseStamped).

It also supports touch screens.


robot_simulator_template

This repository contains some urdfs of robot components for robot simulation in gazebo, such as 2D/3D LiDAR, RGBD camera and mobile base.


nhk2021_ilias

Codes and simulator for NHK Robocon 2021.

I created a urdf model of a 4 wheel steering robot, using the method to rotate joints on Gazebo by ROS Topic. I also created a precise and rotatable field model by converting a 3D CAD field to sdf.

This repository may provide expertise in simulator construction.