This work was completed and handed over as part of my third work term at the Intelligent Systems Lab, under the supervision of Dr. Oscar De Silva.
The odometry payload integrates LiDAR, thermal, IR, and optical cameras to provide robust perception for autonomous aerial and marine platforms.
My contributions spanned mechanical, electrical, and software domains, allowing me to fully apply my mechatronics skillset.
Mechanical Work
- Modified existing Inventor CAD models to support new sensors and camera modules.
- Designed and tested internal housing modifications, ensuring proper fit, heat dissipation, and wiring channels.
- Performed FEM analysis and rapid prototyping before finalizing designs for CNC and additive manufacturing.
Electrical Work
- Corrected errors in the payload PCB design and adjusted power distribution traces.
- Re-routed and modified internal wiring harnesses to accommodate new sensors.
- Ensured safe and stable operation of multi-voltage systems under load.
Software & Integration
- Wrote C++ and ROS2 drivers to integrate LiDAR, thermal, and RGB cameras into the payload.
- Developed automated startup scripts to bring up all three cameras in the correct sequence.
- Verified data streams through real-time visualization tools (RViz, custom 3D visualizers).
Learning Outcomes
This project gave me hands-on experience in:
- Multi-domain engineering — mechanical design, PCB rework, and ROS2 development.
- Practical CNC machining and prototyping workflows.
- Integrating and testing advanced sensors in a real-world R&D environment.
Explore how this payload contributes to search and rescue, environmental monitoring, and autonomous navigation by providing reliable multi-sensor odometry capabilities.