Sebastian summarizes his open-source and community contributions in 2023 and reflects on his experience as a senior engineer at a small company with an open-core model.
Author Archives: Sebastian Castro
An Updated Guide to Docker and ROS 2
This post introduces best practices for using use Docker with ROS 2. This includes multi-stage builds, working graphics in containers, Docker Compose, and developer containers.
2022 in Review: The Year of ROS 2
Welcome to my 2022 recap. This year was quite busy — a little too busy, actually — and as such went by extremely quickly. I had the privilege of being featured in two video series this past year. First was the Learn Robotics and AI podcast episode hosted by Chandandeep Singh, which was recorded atContinue reading “2022 in Review: The Year of ROS 2”
Integrated Task and Motion Planning in Robotics
Learn the fundamentals of integrated task and motion planning (TAMP), and explore examples using PDDLStream, which combines symbolic task planning and sampling-based motion planning.
Task Planning in Robotics
Learn the fundamentals of task planning for robotics applications, with a focus on Planning Domain Definition Language (PDDL).
Building a Python Toolbox for Robot Behavior
Find out about the initial development of pyrobosim: A ROS2 enabled 2D mobile robot simulator for behavior prototyping.
2021 In Review, Part 2: A Career Stretch
Sebastian discusses the career path that led him to work on the Stretch robot at Boston Dynamics, and highlights the differences between this job and his previous roles.
2021 in Review, Part 1: Research Projects at MIT CSAIL
Sebastian discusses 3 of his major collaborative projects at MIT CSAIL, which focus on learning and planning under uncertainty.
Introduction to Behavior Trees
This post introduces behavior trees for designing and managing the execution of complex behaviors in autonomous systems. This includes robotics examples, software library recommendations, and comparisons to finite-state machines.
A Guide to Docker and ROS
Learn best practices for using Docker in container-based development in robotics workflows including the Robot Operating System (ROS).