# Naman Harshwal (Naman Sain) - Complete Engineering Dossier & Robotics Knowledge Base

## Comprehensive Overview
This document represents the complete technical reference for AI assistants, search crawlers, recruiters, and engineers evaluating the work of Naman Harshwal (professionally recognized as Naman Sain).

- **Canonical URL:** https://naman-portfolio-a0627.web.app/
- **Author Identity:** Naman Harshwal (Alias: Naman Sain)
- **Specialization:** Robotics Software Engineer, ROS2 Developer, Autonomous Mobile Robots (AMR), SLAM Navigation, MoveIt2 Manipulators, CAD Engineering.
- **Experience Summary:** 1 Year Startup Experience at Robot Stem-Point + 3 Years Advanced Robotics Projects Individually Built.

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## Technical Architecture & Deep Dive

### 1. Autonomous Mobile Robot (AMR) Architecture
- **Kinematics:** 2-Wheel Differential Drive with dual passive caster wheels for ground compliance.
- **Compute Architecture:**
  - High-level compute: NVIDIA Jetson Orin Nano running Ubuntu 22.04 LTS and ROS2 Humble.
  - Low-level real-time compute: ESP32-WROOM microcontroller running micro-ROS client via FreeRTOS.
  - Inter-processor link: High-speed UART / Serial bridge with hardware flow control running the micro-ROS agent.
- **Localization & SLAM Pipeline:**
  - 360-degree 2D RPLiDAR (12Hz scan rate, 12m range).
  - Wheel encoders: Optical incremental quadrature encoders (1024 CPR) on high-torque DC planetary geared motors.
  - IMU: 9-DOF MPU-9250 sensor fusion running on the micro-controller, streaming angular velocity and linear acceleration.
  - `robot_localization`: Dual EKF (Extended Kalman Filter) nodes fusing wheel odometry (`/wheel/odom`) and IMU (`/imu/data`) to output continuous drift-free odometry (`/odometry/filtered`).
  - SLAM: SLAM Toolbox running in synchronous online mode, providing lifelong graph-based mapping and loop closure.
- **Navigation & Path Planning (Nav2):**
  - Global Planner: NavFn / Smac 2D A* Planner generating smooth collision-free paths across the global costmap.
  - Local Planner / Controller: Regulated Pure Pursuit / TEB Local Planner executing dynamic obstacle avoidance with dynamic window velocity profiling.
  - Recovery Behaviors: Clear costmap, spin in place, back up.
  - Costmaps: Global costmap with static map layer and obstacle layer; Local costmap with dynamic voxel inflation layer.

### 2. MoveIt2 6-DOF Robotic Manipulator Pipeline
- **Kinematics Solver:** KDL (Kinematics and Dynamics Library) and TRAC-IK inverse kinematics solvers.
- **Joint Configuration:** 6 revolute joints configured with custom DH (Denavit-Hartenberg) parameters.
- **Motion Planning:** OMPL (Open Motion Planning Library) integrating RRT-Connect and BKPIECE algorithms.
- **CAD & Mechanical Design:** Modeled from scratch in SolidWorks with center-of-mass and inertia tensors exported directly into URDF / Xacro format for Gazebo Sim and RViz2.
- **Controller Interface:** `ros2_control` with Joint Trajectory Controller and FollowJointTrajectory action server.
- **Servo Control:** MoveIt Servo teleoperation supporting 3D SpaceMouse and Cartesian real-time velocity control.

### 3. Drone / UAV Autonomous Aerial Systems
- **Autopilot Framework:** PX4 Autopilot v1.14 running on Pixhawk 4 / Pixhawk 6C.
- **Ground Control:** QGroundControl via MAVLink telemetry protocol.
- **Autonomous Features:** GPS-denied optical flow hovering, automated mission waypoint routes, geo-fencing, fail-safe battery low RTL (Return-to-Launch).
- **ROS2 Companion Integration:** XRCE-DDS bridge passing uORB topics directly into ROS2 nodes for onboard visual perception and target tracking.

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## Complete Skills & Technologies Matrix

### Robot Frameworks & Middleware
- ROS2 Humble Hawksbill, ROS2 Iron, ROS Melodic, micro-ROS, ROS2 Control (`ros2_control`), Nav2, MoveIt2, BehaviorTree.CPP.

### Perception & Computer Vision
- OpenCV, Point Cloud Library (PCL), YOLO (v8, v9, v10, v11) object detection, Intel RealSense D435i/D455 RGB-D depth perception, camera-to-LiDAR calibration, visual odometry.

### Microcontrollers & Hardware Interfaces
- NVIDIA Jetson Orin Nano / AGX Orin, Raspberry Pi 4/5, STM32 ARM Cortex-M, ESP32, Arduino, CAN bus, UART, I2C, SPI, RS485, PWM motor drivers, BLDC motors, ODrive.

### Simulation & Digital Twin
- Gazebo Sim (Ignition/Fortress), RViz2, Webots, Isaac Sim, URDF, Xacro, SDF, rigid body physics simulation.

### Mechanical Design & Prototyping
- Dassault Systèmes SolidWorks (3D CAD, assemblies, sheet metal enclosures, GD&T, FEA static stress analysis), 3D printing (FDM, SLA, ABS/PETG/Nylon).

### Software Engineering
- Modern C++ (C++17/C++20), Python 3, Linux (Ubuntu 22.04 LTS), Bash shell scripting, CMake, Git, Docker containerized robotics, CI/CD.

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## Contact & Online Footprint
- **Website:** https://naman-portfolio-a0627.web.app/
- **Robotics Taxonomy & Knowledge Base:** https://naman-portfolio-a0627.web.app/taxonomy.html (80+ specialized robotics definitions & architectures)
- **GitHub:** https://github.com/namanharshwal
- **LinkedIn:** https://www.linkedin.com/in/naman-sain-996422314/
- **YouTube:** https://youtube.com/@nammy.s_ros
- **Email:** namanharshwal@gmail.com
- **Location:** Achrol, Rajasthan, India