Working on contributing to ROS2 and AWS Robomaker

Teaching Assistant for CS3500: Object Oriented Programming

Responsibilities included helping students with doubts related to their coursework, providing feedback to and helping the Professor better design the curriculum and grading criteria for the course, conducting lab sessions for students and finally, grading various assignments and projects.

During the 12 week internship I worked with the AWS Robotics and Foundations Team on contributing to ROS2 by enhancing its Quality Of Service usability. In particular, I worked on adding two major features:

• Added APIs to get publisher and subscription information by topic.

• Added support for incompatible event callbacks.

Implementing these features involved designing and adding new APIs in core ROS2 packages. These features have now been merged and will be included in the ROS2 Foxy release (or can be found merged on master).

• Worked with the PS Now team in ensuring reliability of the various services used for streaming games.

• Worked on benchmarking and testing data migration in an internally used Distributed Cloud Storage system; the migration involved moving hundreds of gigabytes of data between different data centres around the globe, lasting several weeks.

• Tested, verified and enabled the balancer plugin on Ceph (a distributed data storage system); this brought down the disk utilisation gap from ~40% to less than 2%.

• Created a highly configurable test suite to reproduce bugs faced during restarts and upgrades of various services.

Worked as a Research Assistant under Prof. Cristina Nita-Rotaru at the Interdisciplinary Science & Engineering Complex - Northeastern University where we are explored papers related to decentralized Path-Based Transaction Networks.