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greenaandblue/README.md

Hi, I'm Huihang

I am a Computer Engineering student at Penn State University (B.S., expected 2028). I work on robotics software: ROS / ROS 2 bring-up, LiDAR mapping and navigation, multi-robot communication, and controlling a 3D printer that rides on a mobile robot.

  • Now: ROS 2 Jazzy on a Clearpath Husky A200 (SLAM, Nav2, 3D LiDAR maps) and linking it to a Unitree Go2 over Wi‑Fi for a 3D-reconstruction / digital-twin project
  • Research: mobile additive manufacturing. I built the print controller that pauses, resumes and edits G-code while a KUKA KMR iiwa moves
  • Summer 2026: AI framework SDK development intern at H World Group (Shanghai)
  • ROBOX robotics club: Embedded Systems Team Lead & Treasurer

Featured projects

Project What it is Stack
HuskyA200 Clearpath Husky A200 on ROS 2 Jazzy: bring-up, SLAM + Nav2, and a KISS-ICP 3D LiDAR map (0.13 m drift over 59.5 m) ROS 2 · C++ · Python
Husky-Go2-MultiRobot Husky ↔ Unitree Go2 over Wi‑Fi: unitree_sdk2 → ROS 2 bridge and a zenoh link across Foxy / Jazzy; the Husky commands the dog to stand up / lie down ROS 2 · C++ · zenoh
Mobile-AM-Print-Control Line-level pause / resume, G-code override & injection, and motion-based auto pause for a printer on a mobile manipulator ROS · Python · Printrun
Single-Image-to-3D-Reconstruction One photo → depth (Depth Anything V2) → colored point cloud and mesh PyTorch · NumPy
ROS-OctoPrint OctoPrint-based G-code streamer with precise pause, latency benchmarks and feed-rate override ROS · Python · REST
Setup-ROS-on-macOS-Apple-Silicon Field guide: four ways to run ROS on M-series Macs, with real errors and fixes Docker · ROS 1/2
ROS-based-Multi-Sensor Vibration + IMU acquisition framework for industrial-robot condition monitoring (in progress) ROS · Python

Tools I use

C++ C Python ROS Linux Docker PyTorch MATLAB FPGA Git

Pinned Loading

  1. HuskyA200 HuskyA200 Public

    Clearpath Husky A200 on ROS 2 Jazzy: bring-up, SLAM + Nav2, and a KISS-ICP 3D LiDAR map (0.13 m drift over 59.5 m).

    C++

  2. Husky-Go2-MultiRobot Husky-Go2-MultiRobot Public

    Husky A200 × Unitree Go2 multi-robot communication: unitree_sdk2 ↔ ROS 2 bridge and zenoh link across Foxy/Jazzy over campus Wi-Fi without multicast.

    C++

  3. Mobile-AM-Print-Control Mobile-AM-Print-Control Public

    ROS + Printrun G-code streamer for mobile 3D printing on a KUKA KMR iiwa: line-level pause/resume, live G-code override & injection, motion-based auto pause.

    Python

  4. Single-Image-to-3D-Reconstruction Single-Image-to-3D-Reconstruction Public

    Turn one photo into a colored 3D point cloud and mesh: monocular depth with Depth Anything V2 + pinhole back-projection, exported as .ply / .obj.

    Python

  5. ROS-OctoPrint ROS-OctoPrint Public

    OctoPrint REST-based G-code streamer for ROS with precise pause/resume, pause-latency benchmarks, robot-speed auto pause and real-time feed-rate override.

    Python

  6. Setup-ROS-on-macOS-Apple-Silicon Setup-ROS-on-macOS-Apple-Silicon Public

    Field guide for running ROS 1 & ROS 2 on Apple Silicon Macs: VM vs Docker vs native compared, GUI forwarding with XQuartz, and real errors with fixes.

    1