Systems & Libraries

ProjectWhat it does
strong-typesType-safe C++ primitives with SI units, dimensional analysis, and fuzz testing — prevent unit/coordinate mix-ups at compile time
behavior-tree-liteHeader-only C++23 behavior tree with compile-time DSL and zero-overhead flattened execution
l2-hybrid-protocolCustom L2 network protocol — lower latency than raw UDP for real-time telemetry
gst-nvmm-cppGStreamer plugins for zero-copy NVMM video on NVIDIA Jetson (Xavier, Orin) — allocator, VIC transform, shared-memory IPC
immutable-data-embedderCompile-time C++23 config parser — embed data as constexpr with zero runtime overhead
ucoroMinimal C++ coroutine abstraction for async task orchestration
gst-metadataComposable GStreamer metadata — type-safe, independent metadata types via CRTP
safe-shmThread-safe shared memory with compile-time allocation
image-shm-dblbufDouble-buffered shared memory optimized for video frames
v4l2Video for Linux 2 based video source adapter in C++

Navigation & Robotics

ProjectWhat it does
fiber-nav-simGPS-denied VTOL navigation — fiber optic + monocular vision fusion, PX4 + Gazebo + ROS 2
linalg3d3D linear algebra for flight path and attitude calculations
image-to-body-mathCamera-to-body coordinate transforms — C++23 header-only + Python (nanobind, zero-copy NumPy)
ros2-gst-metaROS 2 ↔ GStreamer metadata bridge for vision pipelines
geosliceGeospatial terrain slicing utilities

DevOps & Tooling

ProjectWhat it does
standardReusable GitHub Actions for C++/Python — diff-aware linting, SAST, sanitizers, fuzzing
mcp-media-forgeMCP server for generating presentations, diagrams, and charts from Markdown
gemini-mcpMCP server exposing Google Gemini as tools for Claude Code
notebooklm-mcpMCP server for Google NotebookLM — notebooks, sources, chat, artifacts, research
ros2-alpineMinimal ROS 2 on Alpine Linux — lightweight container for edge deployment
ai-cpp-courseC++ course intended for AI developers

Upstream Contributions

64 patches merged across 11 projects, 17 open for review. Statuses below are refreshed from live GitHub/GitLab APIs as of April 2026.

Eigen — 21 merged, 1 open, 2 closed

MRTypeDescriptionDateStatus
!2298bugFix most vexing parse in SparseSparseProductWithPruning.h2026-03-15merged
!2299fixGuard redundant constexpr static member redeclarations for C++17+2026-03-15merged
!2300bugFix TensorUInt128 division infinite loop on overflow2026-03-15merged
!2301cleanupRemove trailing semicolon from EIGEN_UNUSED_VARIABLE macro2026-03-15merged
!2306bugFix vectorized erf returning NaN at ±inf instead of ±12026-03-17merged
!2307featureAdd coefficient-wise modulus operator (%) for Array2026-03-17open
!2308featureAdd mixed dense/skew-symmetric arithmetic operators2026-03-17merged
!2309bugMissing Scaling.h include in IterativeSolvers module2026-03-17merged
!2310bugFix undefined behavior in matrix_cwise test for signed integers2026-03-18merged
!2311fixFix GCC 13 -Warray-bounds false positive in TensorContraction2026-03-18merged
!2312bugFix computeInverseAndDetWithCheck for dynamic result matrices2026-03-19merged
!2313fixGuard eigen_fill_helper on trivially copyable scalars2026-03-19merged
!2316testAdd C++20 contiguous_range tests for Eigen vectors2026-03-19merged
!2317testAdd blocking and vectorization boundary tests for LU and Cholesky2026-03-19merged
!2322refactorStrip lapacke.h to only the declarations used by Eigen2026-03-20merged
!2327fixPrefer SuiteSparse config-mode packages in CMake Find modules2026-03-20merged
!2329docsAdd Array relational operator docs and FetchContent CMake guide2026-03-20merged
!2330refactorInline IndexedViewMethods.inc into DenseBase.h2026-03-20merged
!2331featureAdd hcat/vcat DenseBase concatenation expressions2026-03-20merged
!2335bugFix dangling reference in IndexedView with expression indices2026-03-21merged
!2336featureAdd C++17 structured bindings support for fixed-size Matrix and Array2026-03-21merged
!2337featureAdd Modified Gram-Schmidt QR decomposition2026-03-21closed
!2338fixMap .inc files to C++ in Doxygen extension mapping2026-03-21merged
!2341perfAdd blocked right-side application for HouseholderSequence2026-03-23closed

GStreamer — 5 merged, 1 open, 1 closed

MRTypeDescriptionDateStatus
!11101featureAdd NVMM allocator, buffer pool, and transform element for Jetson2026-03-23closed
!11104fixFix typos in gstcudacontext2026-03-23merged
!11105fixFix CONVET typo in format macro names2026-03-23merged
!11106bugUnchecked CuMemFree/CuMemFreeAsync return values2026-03-23merged
!11109bugshmsink returns exit code 1 on clean shutdown2026-03-24merged
!11118bugGstShmAllocator maxsize not rounded up to page size2026-03-24merged
!11126testFix flaky test_shm_live timeout2026-03-24open

PX4-Autopilot — 4 merged, 2 open, 1 closed

PRTypeDescriptionDateStatus
#26836refactorMigrate ROS integration tests from Gazebo Classic to SIH2026-03-20open
#26845bugio_timer timer_channel off-by-one (1-indexed instead of 0)2026-03-21merged
#26846buguxrce_dds_client build fails with empty DDS subscriptions2026-03-21merged
#26847securityUnsigned MAVLink messages accepted when signing key is missing2026-03-21closed
#26848buguxrce_dds_client session fails to reconnect after agent restart2026-03-21merged
#26853bugMission resume picks wrong waypoint when camera triggering is active2026-03-22merged
#26854bugFalse landed-state detection in OFFBOARD direct_actuator mode2026-03-22open

MAVSDK — 8 merged, 2 closed

PRTypeDescriptionDateStatus
#2800bugSystem incorrectly set to disconnected on heartbeat timeout2026-03-16closed
#2801featureAdd timestamp_us to Altitude and GroundTruth telemetry structs2026-03-21merged
#2803featureImplement set_rate_rc for ArduPilot via SYS_STATUS2026-03-21merged
#2804featureImplement download_geofence mirroring download_mission2026-03-21merged
#2821bugmission_raw_server: Fix crash on empty mission upload2026-03-29merged
#2822fixlog_streaming: Guard ardupilotmega-specific messages with #ifdef2026-03-29merged
#2823featuretelemetry: Use REQUEST_DATA_STREAM for ArduPilot set_rate2026-03-29closed
#2827bugmocap: Fix MavFrame enum sending wrong values on the wire2026-03-30merged
#2828bugsystem_tests: Fix race in mission tests by registering server before connections2026-03-30merged
#2839featureExpose full HOME_POSITION fields in subscribe_home2026-04-02merged

MAVSDK-Proto — 3 merged, 1 closed

PRTypeDescriptionDateStatus
#398featureAdd timestamp_us to Altitude and GroundTruth messages2026-03-21merged
#399featureAdd HomePosition message with full HOME_POSITION fields2026-03-21merged
#400featureAdd DownloadGeofence RPC to geofence proto2026-03-21merged
#401featureAdd HomePosition message and timestamp fields to telemetry2026-03-27closed

dora-rs — 3 merged, 5 open, 1 closed

PRTypeDescriptionDateStatus
#1403featureExpose node_id() and dataflow_id() accessors2026-03-15merged
#1409featureEvent receive variants (timeout, non-blocking, drain)2026-03-16open
#1410featureclose_outputs, NodeFailed and Reload event types2026-03-16open
#1413featurenode_config_json and dataflow_descriptor_json accessors2026-03-16open
#1414bugInputClosed/Stop events not forwarded to C++ callbacks2026-03-16open
#1426featureCLI progress bars for time-consuming operations2026-03-17closed
#1427featureCLI progress bars for time-consuming operations (v2)2026-03-17open
#1428featureDynamic node initialization2026-03-17merged
#1431featureZero-copy output API2026-03-17merged

XGBoost — 4 merged, 1 open, 5 closed

PRTypeDescriptionDateStatus
#12085bugImport crash under python -OO (optimized bytecode)2026-03-15closed
#12086cleanupDead Python 2 guard and sklearn.cross_validation fallback2026-03-15closed
#12087docsUpdate competition winning solutions list2026-03-15merged
#12088featureWarn when xgb_model booster type mismatches training config2026-03-15closed
#12089bugtrees_to_dataframe mishandles indicator features2026-03-15merged
#12093bugDocstring assignments crash under python -OO2026-03-16closed
#12094bugpython -OO crash from unguarded __doc__ assignments2026-03-16merged
#12110cleanupAdd specific error codes to all type: ignore comments2026-03-19merged
#12111cleanupReplace bare Any with specific types in sklearn helpers2026-03-19open
#12112refactorConsolidate version query scripts into shared Python module2026-03-19closed

ROS 2 — rclcpp, ros2cli, geometry2 — 1 merged, 3 open

PRTypeDescriptionDateStatus
rclcpp#3109perfO(N²) entity addition in CallbackGroup — 71x speedup2026-03-21open
rclcpp#3110bugDeadlock in TimeSource::destroy_clock_sub2026-03-21open
ros2cli#1213featureAdd --content-filter DDS filtering to ros2 topic echo|hz|bw2026-03-21open
geometry2#908bugStaticCache::getData() returns true on empty cache2026-03-21merged

Fast-DDS — 7 open

PRTypeDescriptionDateStatus
#6332bugMissing #include <cstdint> in DDSSQLFilter headers2026-03-15open
#6333bugXML parser null-dereference on malformed config (2.6.x)2026-03-15open
#6339bugData race in TopicPayloadPool payload acquisition2026-03-21open
#6341bugDouble serialization of type_information in ReaderProxyData2026-03-21open
#6342bugData race on has_been_removed flag in DataSharingPayloadPool2026-03-21open
#6343bugInfinite loop in VOLATILE DataReader init_shared_segment2026-03-21open
#6344bugRace between Condition destruction and WaitSet iteration2026-03-21open

px4-ros2-interface-lib — 4 merged

PRTypeDescriptionDateStatus
#186fixVTOL status staleness timeout not configurable2026-03-15merged
#188bugMissing topic namespace prefix in MapProjection2026-03-17merged
#189featureAdd HomePositionSetter utility2026-03-18merged
#192refactorUse VehicleCommandSender in sendCommandSync()2026-03-19merged

OpenCV — 2 merged

PRTypeDescriptionDateStatus
#28660bugBroken Python bindings2026-03-15merged
#28665cleanupStale typing stubs2026-03-16merged

concurrentqueue — 2 merged

PRTypeDescriptionDateStatus
#445cleanupReplace C-style casts with C++ casts2026-03-10merged
#446docsDocument try_enqueue capacity limit2026-03-17merged

Fast-DDS-docs — 1 open

PRTypeDescriptionDateStatus
#1234docsTroubleshooting entry for libunwind/libgcc_s conflict2026-03-15open