Miraç Kurtak mirackurtak7

Autonomous Navigation · Robotic Manipulation · Robot Software Architecture

I build modular ROS 2 systems for mobile robots and manipulators — from navigation and planning to control, transforms, simulation and deployment.

ROS 2 · Nav2 · MoveIt 2 · ros2_control · C++ · Python · Gazebo

🚀 Featured Robotics Projects

🤖 Autonomous Mobile Robot Navigation

A complete ROS 2 + Nav2 autonomous navigation pipeline for a mobile robot, covering mapping, localization, planning, obstacle avoidance and mission-level autonomy.

✅ SLAM map generation
✅ AMCL localization
✅ Global + local planning
✅ Dynamic obstacle avoidance
✅ Behavior Tree navigation
✅ Multi-waypoint missions

Engineering focus: lifecycle management, TF tree integrity, costmap tuning, QoS, behavior trees and reproducible launch configuration.

Stack: ROS 2 · Nav2 · AMCL · SLAM Toolbox · TF2 · Gazebo · C++

🦾 MoveIt 2 Motion Planning

A MoveIt 2 manipulation pipeline for collision-aware motion planning, kinematics, planning-scene interaction and trajectory execution through ROS 2 controllers.

✅ Collision-aware planning
✅ Forward / inverse kinematics
✅ Planning Scene integration
✅ Trajectory execution
✅ ros2_control integration
✅ RViz / Gazebo simulation

Engineering focus: planning groups, robot model configuration, controller interfaces, scene updates, IK targets and execution reliability.

Stack: ROS 2 · MoveIt 2 · OMPL · ros2_control · RViz2 · Gazebo · C++

⚙️ ROS 2 Control & Robot Bringup

I design robot bringup packages that connect URDF/Xacro → ros2_control → controllers → hardware/simulation with a clean and debuggable launch structure.

✅ Controller Manager setup
✅ Joint State Broadcaster
✅ Joint Trajectory Controller
✅ Hardware / simulation interfaces
✅ Xacro + URDF integration
✅ Modular launch architecture

Stack: ros2_control · controller_manager · URDF/Xacro · TF2 · CMake · C++

🧠 What I Work On

Area	Technologies / Concepts
ROS 2 Core	Nodes, Topics, Services, Actions, Parameters, Launch, QoS, Lifecycle Nodes
Navigation	Nav2, AMCL, SLAM Toolbox, Costmaps, Planners, Controllers, Behavior Trees
Manipulation	MoveIt 2, OMPL, Planning Scene, IK/FK, MoveIt Servo
Robot Control	ros2_control, Controller Manager, Joint Controllers, Hardware Interfaces
Robot Modeling	URDF, Xacro, TF2, robot_state_publisher
Simulation	Gazebo / Gazebo Sim, RViz2
Development	Modern C++, Python, CMake, Git, Linux, Docker

🧩 ROS 2 System Thinking

I care about more than “making the node run”. I try to build systems that are observable, modular and maintainable.

flowchart LR
    S[Perception / Sensors] --> T[TF2 + State Estimation]
    T --> N[Nav2 / MoveIt 2]
    N --> C[ros2_control]
    C --> H[Robot Hardware / Simulation]

    L[Launch + Parameters] --> S
    L --> T
    L --> N
    L --> C

    Q[QoS + Lifecycle + Diagnostics] -. engineering discipline .-> S
    Q -.-> T
    Q -.-> N
    Q -.-> C

Principles I optimize for

Correct frame semantics before algorithm tuning.
Lifecycle-aware startup for deterministic bringup.
Parameter-driven configuration instead of hard-coded behavior.
Clear package boundaries between perception, planning, control and hardware.
Reproducible simulation before hardware deployment.
Logs, diagnostics and tests that make failures explainable.

🛠️ Toolbox

ROS 2 ecosystem

Nav2 · MoveIt 2 · ros2_control · TF2 · RViz2 · Gazebo · SLAM Toolbox · AMCL · BehaviorTree.CPP

🧪 Project Quality Checklist

When I publish a robotics repository, I aim to include:

📌 Currently Building

Navigation     → robust Nav2 behavior trees & tuning
Manipulation   → MoveIt 2 planning + controller integration
Control        → ros2_control hardware interfaces
Architecture   → reusable ROS 2 bringup and launch patterns

Replace this block with what you are actively working on. It makes the profile feel alive without turning it into a wall of badges.

🤝 Connect

If you are building robots with ROS 2, Nav2, MoveIt 2 or ros2_control, feel free to reach out.

_{Built around real robotics work — not a badge collection.}

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