https://www.steve.macenski.com/home daily 1.0 2023-05-22 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1626832297460-BIQSATQJWAVZ8VLL9QP3/49615822653_923356c7b3_o.jpg Home - dffdsfds TechCrunch 2020 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1626900776023-VL44M2QQYW3IRM3HKFPY/pins_logo.png Home https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1626910089892-QAYIQHGAWW77S3W2CS79/nav2_letters.png Home - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627014003042-MP2FUB3OSN1N5AKIPHXE/bitmap.png Home - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627013934471-J74UUE1Y22X5G23RVXMS/bitmap.png Home - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627069234725-1DMSOLDGHMWZJFWGJ02N/image18.png Home - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627076599170-9YJXAN0GBTCS5TIRI323/image17.png Home - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://www.steve.macenski.com/about daily 0.75 2023-05-22 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627441623778-6D8DRJGNVIHKXF5GLBHL/87454590_10222861806675100_7016600475617198080_n.jpg About - Your Friendly Neighborhood Navigator. If you’ve read much I’ve written recently, you’ll have run into that introduction. It’s a bit whimsical, a bit literal - just like me. I give my time generously and share my experiences openly. I straddle the line of a roboticist, technical leader, and chief of staff (executive ‘random thing do-er’). I seek out hard problems and stumble into opportunities in all domains. I’m an independent, systems, and strategic thinker who’s thinking about robotics and coalition building. All of that is to say, I’m just your friendly neighborhood navigator, missing a funny hat. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/3d2dbc9d-cbc7-4e54-8064-43fbea89e3f6/open_navigation_logo.png About - Open Navigation LLC. Owner and Chief Navigator, 2023 - Present Principal architect, developer, and product manager for the ROS 2 Navigation stack, Nav2. Bringing the ROS and mobile robotics ecosystem into a new chapter of development and community sustainable maintenance to support commercial users and accelerate the robotics industry globally. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627441713637-PCZOY70IJFSGWZKN7ASI/89601294_10222915637340833_7426353231967551488_n.jpg About - Samsung Research. Senior Technical Lead, 2022-2023 Robotics Engineering Lead, 2019-2022 I am an advocate of open-source and strive to lead, build, and maintain high quality robotics software in the open to democratize access to robotics. I led the mobile robotics ecosystem in ROS 2, chairing the Navigation Working Group. I’ve built Nav2 into the premier community in ROS. My objective is for Nav2 to become the ‘standard library’ of robotics to proliferate the future. Keywords: Quality. Flexibility. Reliability. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627513558882-Z7MUD9V959UHOZ0V5MY0/23550824_10215261069021409_1971922695723407521_o.jpg About - Sr. Robotics Engineer - Robotics & Navigation Lead. Simbe Robotics. I engage with robotics in multiple systems and get 'down and dirty' with hardware. I consider myself a full-stack robotics engineer. I build things that ‘just work’. While leading the robotics development on Tally, I developed SLAM and Perception algorithms that have now become standard in the robotics community. I deployed the company’s first robots into the field and helped path the way to 100+. https://www.steve.macenski.com/contact daily 0.75 2024-09-09 https://www.steve.macenski.com/awards daily 0.75 2022-11-07 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/e3630675-d0d8-46ad-add4-b1dcd7c95977/Screenshot+from+2022-11-04+17-38-25.jpg Awards - Make it stand out Top Trending C++ Developer on GitHub - November 2022 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/447f9296-6404-40c8-b1ba-ba28ca22f57d/IMG_1486.jpg Awards - Make it stand out 2022 Outstanding Recent Alumnus Award University of Illinois Aerospace Engineering https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1e707c3b-94f3-452a-90f8-d88b310f4e3b/image29.png Awards - Make it stand out ROS Community Voted Nav2 the Best Software of the Year 2021 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627432129659-GB6DRL97KJMKWTESN2HC/image27.png Awards - Make it stand out ROS Community Voted Me the Best Developer of the Year 2021 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/2f15cded-2b5b-4978-8d64-57a195e7c1ae/The-Misties-2022_Promo_1.png Awards - Make it stand out 2022 Top 20 Individual Leaders in Intelligent and Connected Devices https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627076599170-9YJXAN0GBTCS5TIRI323/image17.png Awards - Make it stand out ROS Community Voted Me the Best Developer of the Year 2020 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627431957078-3KYKDLLUW3JPRZRXHYW2/Macenski_FINALIST_IROS_RoboCup_Best_Paper_2020_Certificate-1.png Awards - Make it stand out Finalist for the RoboCup Best Paper Award at IROS 2020 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627433553125-OITH2BJ6OMTP4HPE8J2Q/12970897_10205755058461191_2053442050690119569_o.jpg Awards - Make it stand out AIAA Region III Conference, Best Team Paper Award, “In-Situ Sample Collection Tool Design and Analysis”, 2016 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627433032817-7DTM2QSRRE7FN9Z9WXQX/image30.png Awards - Make it stand out Given 2021 Spot Award in Recognition of Exceptional Contribution and Support for Robotics https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627435971184-TO5CRLWI05J17H5DYTV6/10264062_10152106716263456_2169050249848564034_o.jpg Awards - Make it stand out 3rd Place, NASA Robotic Mining Competition, Systems Engineering Paper, 2014 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627434716402-VF8ARTXEV82S4CL8XI7F/211941eac6972e474b5d282a351121c3.jpg Awards - Make it stand out 1st Place State (Illinois) Helicopter, 2012. 2nd Place 2011. - Science Olympiad https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627434091895-ENSDMH33N6BMZFWIZX2X/429300_3544888822299_1243021137_n.jpg Awards - Make it stand out 2nd Place National Battlebots Tournament, 2013 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627434424267-TDA4DN0025YXOZWVFDDQ/award-transparent-eagle-scout-6.png Awards - Make it stand out Eagle Scout Award https://www.steve.macenski.com/publications daily 0.75 2026-03-02 https://images.squarespace-cdn.com/content/v1/5ec321c2af33de48734cc929/1607694583486-2PQT0LQ193RL7MCB6DX4/20140228_Trade+151_0046.jpg Publications https://images.squarespace-cdn.com/content/v1/5ec321c2af33de48734cc929/1607694644871-IC85FNH781UNZSZEGHDR/Aro+Ha_0428.jpg Publications https://www.steve.macenski.com/my-robots daily 0.75 2021-07-29 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/ac40e197-8630-4718-b672-b1964d80f12a/Simbe-In-Store.jpg My Robots Tally https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/d9721442-dd6d-4ca0-a923-6d4e34d88930/unitree-a1-robot-dog-thumb-960xauto-115290.jpg My Robots https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/421b889d-3114-45c9-8c30-db79474f86bb/IMG-1859.jpg My Robots Rover Pro https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/b63c5c0c-9d32-4d44-8fd7-60b5b2bf2f86/06-Kitchen1.jpg My Robots Turtlebot2 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/f24bd4ad-c6c6-422f-ac67-e2e45c3864c0/nasa_edu.jpeg My Robots NASA Goddard Spaceflight Center https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/ac5e1739-bffd-4573-8a0c-ff373d4d8da0/unnamed.jpg My Robots Jetson Robotics https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/66ef93ec-0383-4df5-8289-d98291c5e08b/3_NASA_Robotic_Operations_Center_1.jpeg My Robots NASA Goddard Spaceflight Center https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/7e7ffc7d-2ad5-4bd5-84a1-eb3b5628967f/nasa_ssco_satellite_servicing_facility_rrm_demo.jpg My Robots NASA Goddard Spaceflight Center https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/b5b58b34-87a8-48bb-9098-a18435923993/maxresdefault.jpg My Robots https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/d9c4a2f4-a5b8-4435-a84e-1d017909e98c/lunarobotics.jpg My Robots NASA Lunabotics Mining Competition UIUC https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/de45e83b-2c8d-43d1-8090-408e99404ee9/DSC013171.jpg My Robots Clearpath Jackal https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/259375f6-b929-427a-9942-64c9c3465fbf/General-view-a-ABB-IRB-120-robot-with-FlexPendant-b-IRC5-Compact-robot-controller.jpg My Robots ABB IRB 120 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/b2eb48c9-d1cf-4bbf-ba2f-6918429fe1e8/maxresdefault.jpg My Robots Cyton Gamma https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/153b0dec-03ea-4308-b727-3477607dd141/maxresdefault.jpg My Robots UIUC AE 483 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/8b8a3c5b-0e43-4b3e-8268-94a7e4de9cfa/full_body_spinner.png My Robots My second robot, a Full-Body Spinner battlebot, Beyblade https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/6f29939b-a5d9-45b8-9a15-8c6dd76af4d1/pneumatic_flipper.png My Robots My first robot, a pneumatic flipping battlebot https://www.steve.macenski.com/projects daily 0.75 2023-01-06 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627955159810-FW1ZMQLY8G0RMHDM8YII/368.png Projects - Navigation2 (aka Nav2) ROS 2’s navigation framework and system, the successor to the ROS Navigation Stack. Includes new algorithms including Hybrid-A*, MPC Controllers, Regulated Pure Pursuit, Waypoint Task Executors, Behavior Tree Navigator, Keepout and Speed Limited Zones, and more! S Macenski, F Martín, R White, JG Clavero, “The Marathon 2: A Navigation System“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627956714972-IGQA6S6LHJA6JU5MGLN7/Screenshot+from+2021-08-02+19-11-49.png Projects - Smac Planner A templated A*-based planning framework containing a 2D A*, Hybrid-A*, and State Lattice planner implementations. It covers the niche of supporting Ackermann (car-like), Legged, and non-circular Differential and Omnidirectional robots in the ROS Navigation ecosystem for the first time. It is heavily optimized with precomputations and caching to ensure a real-time planning analogous to other algorithms available. It also has approximate paths within tolerances and analytic expansions to significantly accelerate planning. Paper to be prepared in 2022 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1628038595834-FCSLRL22FK3I3WWLD1KI/circuit_launch.gif Projects - SLAM Toolbox A toolbox for 2D Lidar SLAM and the default SLAM vendor for ROS 2. Enables editing of maps and continuation of prior mapping sessions to continue refining the map or accounting for changes in the environment. It includes synchronous and asynchronous modes for offline and live processing. It contains heavily tuned parameters to work well out of the box for a broad number of robots and significant speed ups in the core SLAM algorithms. Macenski, S., Jambrecic I., "SLAM Toolbox: SLAM for the dynamic world", Journal of Open Source Software, 6(61), 2783, 2021. Macenski, S., "On Use of SLAM Toolbox, A fresh(er) look at mapping and localization for the dynamic world", ROSCon 2019. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/5f23dad5-2a80-40b7-a35f-e88a62a15aee/mppi_controller.gif Projects - Model Predictive Path Integral Controller The Model Predictive Path Integral (MPPI) Controller is a Model Predictive Control (MPC) variant that optimizes a trajectory inter-iteration instead of intra-iteration by introducing random perturbations to the previous optimal trajectory at a high rate. These trajectory samples are then scored by a set of objective functions to create the desired behavior. A key benefit of this approach is the use of objective functions that are not required to be convex or differentiable, creating greater latitude for an algorithm or behavior designer. This algorithm is fully reconfigurable, including plugin-based critic functions for customizable behavior. Paper to be prepared in 2023 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627954906178-FCBMY9GY3D2WPL5TOU66/37010885-b18fe1f8-20bb-11e8-8c28-5b31e65f2844.gif Projects - Spatio-Temporal Voxel Layer A 3D voxel layer with temporal decay for highly dynamic environments. This uses OpenVDB, a 3D voxel representation made by Dreamworks Animations for films, to represent the spatial grid. Then leverages novel decay functions and sensor models to retain a locally accurate representation of the environment from many sensors in dynamic scenes. Macenski S, Tsai D, Feinberg M., “Spatio-temporal voxel layer: A view on robot perception for the dynamic world”, International Journal of Advanced Robotic Systems, 2020. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1628040534676-Z5YKAQEM0XTX75SBBRFZ/102563918-3cd49d80-408f-11eb-8e03-b472815a05d8.gif Projects - Regulated Pure Pursuit Controller This is a path tracking controller based on the Pure Pursuit algorithm with additional ‘regulation’ heuristics controlling the translational velocity to slow when navigating around sharp turns or when close to the environment where collisions may be possible (as a practical matter of safety in human filled environments and dynamics effects). It can process at > 1kHz, has predictive collision detection, and dynamically adjustable lookahead distances based on speed. Paper in review https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1628039505697-ZKA31KLFJGSBKKE0IWUT/ezgif-2-3d593c831d5e.gif Projects - Nav2 Simple Commander This is a pure Python3 API for interacting with Nav2 without needing to worry about ROS 2. It handles all of the networking interfaces behind the scenes and gives a clean ROS-free API such a goToPose(), followWaypoints(), and changeMap(). It also includes several proof of concept applications like security patrols (shown), pick and place, and shelf inspection using the API. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1628041235786-QLMH03DW61OBBQ47CH3P/ezgif-3-6f6f6319dddf.gif Projects - Nav2 Waypoint Follower This is a waypoint follower server where you can select N waypoints to visit sequentially in the Nav2 stack. At each waypoint, a Task Executors plugin will trigger to complete some task (such as shelf inspection shown). It contains options to select which task executor to use at each waypoint and if to continue if a given waypoint is not able to be achieved. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1627957350902-RJ4IRR61IWZULXV7JU67/687474703a2f2f696d672e796f75747562652e636f6d2f76692f34566747473858653449412f302e6a7067.jpeg Projects - ROS 2 Ouster Drivers ROS 2 drivers for the full Ouster lidar series, OS-0, OS-1, and OS-2. This includes a well architected design to support future expansions in sensor API and sensor processing mechanics. It includes sensor processors for 3D structured pointclouds, IMU, 2D laser scan, and various array data image types. I donated this project to ros-drivers for long-term community ownership and maintenance with support from Ouster. https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/1628040215964-1YMAR1GT14S31ELRZAO4/bitmap.png Projects - Standardizing Interfaces ROS is powerful due to its abundant tooling, great capabilities and standardized interfaces. I’ve developed the official standard interfaces for radar sensors, radar_msgs, and Artificial Intelligence (AI), vision_msgs. I donated these projects to ros-perception for long-term community ownership and maintenance, with support from RadarIQ (radar_msgs) and Adam Allevato (author of original vision_msgs). https://www.steve.macenski.com/woodworking daily 0.75 2022-06-14 https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/15d293d7-2a9b-4033-8acd-06776d467eec/IMG-4029.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/19a6d579-0b4c-46fd-81c1-0172ea6ac44c/IMG-4030.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/3762d047-5eb0-4a25-8c0e-3d53a17440fa/unnamed.jpg Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/0f8db3e2-f5e1-4ab1-a559-80a94cb2de18/IMG-3709.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/f66cd304-02ef-4aad-a275-61046e0e5ca6/IMG-3710.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/b7fde32e-a1f1-4bb1-997d-7c85266f1f30/IMG-4020.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/bc9f4567-54b1-436a-8ca0-2ad5599a87c1/IMG-4021.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/43c9747e-ac6f-41ee-8b05-d286b1253be4/IMG-4025.JPG Woodworking https://images.squarespace-cdn.com/content/v1/60f778c50982f4218ed15b10/d77edc97-68af-4678-99e2-57821f64c1af/IMG-4024.JPG Woodworking