W-03
WeFabricate
Mechatronics Intern
WeFabricate is a contract manufacturer in Best: electronics, system integration, injection moulding and machining under one roof. They build other people’s products, and a few of their own.
I worked on the Bin-Handler, a station that registers bins brought in by AGVs. Its control software needed to scale, so I rewrote it.
- Bin-Handler (AGV-fed)
- C++
- ROS2
- Gazebo + URDF
Fig. 1 — How it fits together
02What I actually did
01 · Rewrite in C++
New control software for the Bin-Handler, re-architected so it scales.
02 · ROS2 for comms
Modular communication between the parts of the station.
03 · Behaviour tree
The station’s logic as a C++ behaviour tree, with custom nodes in Groot so you can see and edit it.
04 · Digital twin
A Gazebo simulation built from a URDF, covering the full range of motion. Test without the hardware.
C++ROS2Behaviour treesGazeboURDF