Ros Software Platform Architect

Role: ROS Software Platform Architect

Location: Sunnyvale, CA (Onsite)

Duration: Contract 12+ Months

Key Responsibilities

• Develop and maintain ROS2 nodes for gripper command/state, sensor streaming (cameras, IMU, dToF, tactile), and device management (DFU, discovery, calibration)
• Develop and integrate host-side SDKs that interface with embedded MCU subsystems over Ethernet and EtherCAT - wrapping vendor C/C++ libraries into ROS2-compatible drivers
• Implement sensor integration pipelines on Jetson: camera frame acquisition and GPU-accelerated processing (CUDA de-Bayering), depth sensor post-processing (dToF zone point cloud), IMU streaming, tactile data decoding
• Integrate control and perception algorithms developed by scientists into the real-time platform - ensuring timing, data flow, and API contracts are met
• Develop device management software: firmware update orchestration (DFU) across heterogeneous nodes (MCU, sensor modules, actuators), device discovery, health monitoring
• Write and maintain integration tests validating end-to-end data paths from embedded hardware through ROS2 topics

Required Qualifications

• 5+ years of software engineering experience, with significant work on embedded Linux / robotics platforms
• Strong proficiency in C++ and Python on Linux (Ubuntu)
• Hands-on experience with ROS2 - writing nodes, custom message types, lifecycle management, launch files, parameter handling
• Experience developing software on NVIDIA Jetson platforms (JetPack, CUDA basics, Docker containers)
• Experience interfacing host software with embedded systems - consuming C/C++ SDKs from hardware vendors, Ethernet/UDP communication with MCUs, serial protocols
• Experience with sensor integration: cameras (V4L2, GStreamer, or vendor SDK), IMUs, depth sensors, or similar
• Comfortable working at the hardware-software boundary - reading protocol specs, validating data with Wireshark/logic analyzers, coordinating with firmware engineers

Preferred Qualifications

• Experience with EtherCAT master libraries (IgH, SOEM) on Linux for real-time motor/actuator control
• Experience with CUDA kernels or GPU-accelerated image processing (de-Bayering, filtering, point cloud generation)
• Experience with CycloneDDS or other DDS implementations and real-time ROS2 tuning (executor configuration, QoS, zero-copy transport)
• Experience integrating manipulation/control algorithms (trajectory execution, position control loops, impedance control)
• Familiarity with Cyphal/DroneCAN or other CAN-based protocols from the host side
• Experience with Docker-based development and deployment workflows on embedded Linux
• Experience with device firmware update orchestration across multiple heterogeneous targets
• Familiarity with PREEMPT_RT Linux configuration, CPU isolation, and real-time scheduling
• Experience with Yocto/OE or custom BSP builds for Jetson
• Experience with calibration systems (camera intrinsics/extrinsics, hand-eye calibration)