Contact person: ROS2 MoveIt2 Protocol Nodes

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Location: Chennai, India

Budget: Recommended by industry experts

Time to start: As soon as possible

Project description:
"The mechanical platform is finished and the CAD has already been turned into a working URDF. What I need now is an experienced ROS 2 developer who can turn that model into a truly autonomous machine by building robust, well-structured custom nodes and packages in MoveIt 2.

The immediate focus is the communication layer: writing ROS 2 nodes (C++/Python) that reliably shuttle data between our SLAM stack, onboard sensors, and low-level motor controllers. These nodes must follow best practices for real-time safety, parameterisation and logging, and expose clean interfaces for future path-planning and manipulation work.

You will be working in a codebase that already uses Foxy/Humble, colcon, and Git. I can supply the URDF, existing launch files, and a Gazebo world for testing. Once your nodes compile and run cleanly in simulation, we will deploy them to the NVIDIA-based target computer and validate against live hardware.

Deliverables
• A ROS 2 package (or packages) containing the new communication protocol nodes, fully namespaced and launch-ready.
• Unit tests and launch test files proving message integrity and timing.
• Updated documentation (README and inline comments) so my in-house team can extend or refactor without guesswork.

Acceptance criteria
– All nodes build with `colcon build` and pass `ament_lint`.
– Round-trip latency between sensor input and actuator command stays below 50 ms in both Gazebo and on hardware.
– No regressions in existing MoveIt 2 motion planning demos.

If you have solid MoveIt 2 experience, know your way around DDS QoS tuning, and can demonstrate previous ROS 2 package work, I’d love to collaborate." (client-provided description)