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PavelGuzenfeld/README.md

Pavel Guzenfeld

UAV & Robotics Software Engineer — C++23, ROS 2, PX4, GStreamer, Jetson

I design and implement flight-critical software for drones and robotics: navigation pipelines and computer vision. Available for consulting and contract work — remote or on-site.

pavelguzenfeld.com | Consulting | Blog | LinkedIn

Systems & Libraries

Project What it does
strong-types Type-safe C++ primitives with SI units, dimensional analysis, and fuzz testing — prevent unit/coordinate mix-ups at compile time
behavior-tree-lite Header-only C++23 behavior tree with compile-time DSL and zero-overhead flattened execution
l2-hybrid-protocol Custom L2 network protocol — lower latency than raw UDP for real-time telemetry
gst-nvmm-cpp GStreamer plugins for zero-copy NVMM video on NVIDIA Jetson (Xavier, Orin)
immutable-data-embedder Compile-time C++23 config parser — embed data as constexpr with zero runtime overhead
ucoro Minimal C++ coroutine abstraction for async task orchestration
gst-metadata Composable GStreamer metadata — type-safe, independent metadata types via CRTP
safe-shm Thread-safe shared memory with compile-time allocation
image-shm-dblbuf Double-buffered shared memory optimized for video frames
v4l2 Video for Linux 2 based video source adapter in C++

Navigation & Robotics

Project What it does
fiber-nav-sim GPS-denied VTOL navigation — fiber optic + monocular vision fusion, PX4 + Gazebo + ROS 2
linalg3d 3D linear algebra for flight path and attitude calculations
image-to-body-math Camera-to-body coordinate transforms — C++23 header-only + Python (nanobind, zero-copy NumPy)
ros2-gst-meta ROS 2 ↔ GStreamer metadata bridge for vision pipelines
geoslice Geospatial terrain slicing utilities

DevOps & Tooling

Project What it does
standard Reusable GitHub Actions for C++/Python — diff-aware linting, SAST, sanitizers, fuzzing
mcp-media-forge MCP server for generating presentations, diagrams, and charts from Markdown
gemini-mcp MCP server exposing Google Gemini as tools for Claude Code
notebooklm-mcp MCP server for Google NotebookLM — notebooks, sources, chat, artifacts, research
ros2-alpine Minimal ROS 2 on Alpine Linux — lightweight container for edge deployment
ai-cpp-course C++ course for AI developers — nanobind, CUDA, profiling-driven optimization

Upstream Contributions

  • Eigen — bug fixes, new operators, structured bindings, Gram-Schmidt QR
  • dora-rs — C++ API parity, zero-copy output, dynamic node init
  • XGBoost — python -OO crash fixes, type safety, dead code removal
  • PX4-Autopilot — DDS reconnection, MAVLink signing, mission resume bugs
  • GStreamer — NVMM Jetson plugins, shmsink bugs, CUDA memory checks
  • Fast-DDS — data races, infinite loop, null-deref, missing includes
  • MAVSDK — telemetry timestamps, geofence download, HOME_POSITION
  • ROS 2 — O(N²) → O(N) CallbackGroup (71x speedup), deadlock fix
  • OpenCV, concurrentqueue, px4-ros2-interface-lib — bug fixes and utilities

Full contribution list with links →

Tech Stack

C++ CMake ROS2 PX4 Gazebo Docker Python GitHub Actions GStreamer Linux

GitHub Stats

GitHub Stats

Top Languages

GitHub Streak

Recent Activity

  1. 🎉 Merged PR #2827 in mavlink/MAVSDK
  2. 🎉 Merged PR #2828 in mavlink/MAVSDK
  3. 🎉 Merged PR #2803 in mavlink/MAVSDK
  4. 🎉 Merged PR #2804 in mavlink/MAVSDK
  5. 🗣 Commented on #2804 in mavlink/MAVSDK

Pinned Loading

  1. strong-types strong-types Public

    Strong type C++ library

    C++

  2. behavior-tree-lite behavior-tree-lite Public

    Header-only C++23 behavior tree library with compile-time DSL and zero-overhead flattened execution, event-driven, sub-nanosecond node dispatch

    C++

  3. fiber-nav-sim fiber-nav-sim Public

    C++

  4. gemini-mcp gemini-mcp Public

    MCP server that exposes Google Gemini as tools for Claude Code

    JavaScript

  5. gst-metadata gst-metadata Public

    Composable GStreamer metadata library — type-safe, independent metadata types on GStreamer buffers via C++ CRTP

    C++

  6. standard standard Public

    Reusable GitHub Actions for C++ & Python quality gates — diff-aware linting, SAST, sanitizers, fuzzing. Only check what changed.

    Shell 4