Thirumalaesh Ashokkumar

About

Robotics software lead with 4+ years of ROS/ROS2 experience spanning a startup (Inductive Robotics) and General Motors, building autonomous mobile manipulation and AMR material-handling stacks. Has hands-on depth in SLAM/navigation (Cartographer/Nav2), perception, and simulation, and has directly modified Cartographer to handle real-world sensor dropouts. Currently working on fleet-scale mapping capabilities (map merging/editing, trajectory pruning) for multi-robot deployments.

Key Strengths

• Led end-to-end software stack development for an autonomous mobile manipulator (ROS-based SLAM, navigation, manipulation, perception)
• Creative software workarounds for hardware/environment constraints (vision-based heading feedback loop in high-friction uneven parking lot)
• Deep ROS/ROS2 integration across navigation, SLAM, manipulation, and tooling (Nav2, Cartographer, MoveIt, robot_localization, Gazebo/RViz/rqt)
• Strong real-time debugging and root-cause analysis using topic monitoring and sensor/timestamp validation (identified IMU dropouts via rqt gaps)
• Ability to modify and extend core open-source robotics packages for robustness (patched Cartographer to fall back to wheel-odom orientation during IMU loss)
• Systems-level troubleshooting of estimation behavior and parameterization (identified landmark weight rebasing causing pose jumps; corrected weighting)
• Simulation-driven development and demos (custom Gazebo worlds, modified Husky sim, added sensors/plugins)
• Improved engineering workflow quality via CI/CD enhancements (added unit tests and baseline performance metrics) and containerized development (Docker)

Experience

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Publications

2 publications