Independent Projects
Open-source tools and infrastructure.
Standalone codebases, utilities, and templates that grew out of day-to-day research needs. Each card gives a preview first, then expands into the fuller context.
01
MoCap4ROS2 Packages
ROS 2 C++ packages that bridge Vicon and OptiTrack motion-capture systems to the PX4 autopilot EKF for indoor quadrotor flight experiments.
Motion Capture → PX4 EKF Pipeline
ENU → NED frame conversion
External vision EKF fusion
Full-state relay for control & logging
Vicon
OptiTrack
ROS 2
PX4
MoCap4ROS2 Packages
ROS 2 C++ packages that bridge Vicon and OptiTrack motion-capture systems to the PX4 autopilot EKF for indoor quadrotor flight experiments.
Motion Capture → PX4 EKF Pipeline
Vicon4PX4 and OptiTrack4PX4 handle the full pipeline — coordinate frame conversion, quaternion reordering, PX4 timestamping, and full-state merging — so you can focus on your controller, not the plumbing. Adopted by Georgia Tech's Indoor Flight Lab as part of its official codebase.
- Connects via DataStream SDK (Vicon) or NatNet (OptiTrack) — vendored, no system install.
- Publishes
VehicleOdometryon/fmu/in/vehicle_visual_odometryfor direct EKF fusion. - Both packages share the same ROS 2 interface design.
02
QuartoCV
A modular Quarto and Make-based CV workflow that updates shared sections once and propagates them across every output document automatically.
Build once, reuse everywhere
Shared sections
Incremental PDF rebuilds
Academic + consulting styles
Quarto
XeLaTeX
Make
QuartoCV
A modular Quarto and Make-based CV workflow that updates shared sections once and propagates them across every output document automatically.
Build once, reuse everywhere
QuartoCV is for the recurring academic problem of maintaining multiple CV and resume variants without duplicating the same content everywhere. Shared section files feed multiple outputs, and the Makefile rebuilds only the documents affected by an edit.
- One source section can feed multiple document variants.
- Dependency-aware incremental builds keep edits fast.
- Layouts are designed for both compact academic and cleaner standard resume styles.
03
CodeGraph Live
A fork of colbymchenry/codegraph that adds an always-on background daemon to keep a semantic code knowledge graph fresh across all your projects — even when Claude Code is closed.
Always-on code intelligence for Claude
inotify daemon — syncs on every file save
systemd user service — starts at login
MCP tools — callers, callees, impact, explore
TypeScript
Node.js
MCP
CodeGraph Live
A fork of colbymchenry/codegraph that adds an always-on background daemon to keep a semantic code knowledge graph fresh across all your projects — even when Claude Code is closed.
Always-on code intelligence for Claude
CodeGraph Live fixes the stale-graph problem in AI-assisted development. This fork adds a systemd user service that watches all your initialized projects simultaneously via Linux inotify — every save from any editor is detected and synced within one second, even when Claude Code is completely closed.
- Background daemon auto-discovers new projects by scanning
$HOMEevery 30s. - Claude Code hooks keep Claude's own edits in sync mid-session.
- MCP server exposes graph query tools so Claude navigates call graphs instead of grepping files.
04
relay
A bash orchestration script that runs a four-step Plan → Code → Review → Cleanup loop over a dependency-ordered task list, dispatching each step to a fresh Claude or Codex subprocess so nothing leaks between tasks.
Multi-agent pipeline, no config required
Plan → Code → Review → Cleanup per task
Beads (bd) for dependency-ordered task tracking
Drop-in: copy pipeline.sh, run it
Bash
Claude Code
Codex
relay
A bash orchestration script that runs a four-step Plan → Code → Review → Cleanup loop over a dependency-ordered task list, dispatching each step to a fresh Claude or Codex subprocess so nothing leaks between tasks.
Multi-agent pipeline, no config required
bd) for dependency-ordered task tracking
relay automates the full agentic development loop. Each task from prd.json is handed to a fresh Claude subprocess to plan, a fresh Codex subprocess to implement, another to adversarially review the diff, and a final Claude pass to clean up — with no state leaking between steps.
- Uses Beads (
bd) to resolve task dependencies and claim tasks atomically before starting. - Context-rot guard: 10m session cap with git-state handoff into a fresh subprocess.
- No daemon, no server, no install — just copy
pipeline.shinto your project's.claude/directory.
05
Quarto Georgia Tech Slides
A Georgia Tech-branded RevealJS presentation theme that installs into an existing Quarto project in one command.
Slide branding
Official GT palette
Title + section backgrounds
RevealJS fragments + callouts
Quarto
RevealJS
SCSS
Quarto Georgia Tech Slides
A Georgia Tech-branded RevealJS presentation theme that installs into an existing Quarto project in one command.
Slide branding
This extension packages Georgia Tech colors, backgrounds, typography, and presentation utilities so branded slides can be spun up quickly in a normal Quarto workflow.
- Built to be installed into an existing project with a single template command.
- Includes branded title and section slide treatments.
- Designed for presentations that still feel like Quarto, not a hard-coded slide deck.