Seeking ROS2 Expert with CAN-Bus Experience for Autonomous Cow Feeding Robot

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Looking for a skilled software engineer proficient in ROS2 and CAN-Bus protocols for a temporary contract position with Smooth Ag. We are moving to our 4th iteration of the Ranch Rover, a 4000lb payload mobile platform powered by a diesel engine and hydraulic propulsion (not electric) and we are seeking additional expertise to accelerate our development process to MVP. www.smoothag.com

Project Story: https://www.youtube.com/watch?v=JHCn0zUd5M8&t=26s
Latest Build: https://www.youtube.com/watch?v=KWEnIO92WGg

Project Overview:

  • Autonomous navigation using RTK GPS waypoints
  • Machine vision integration for obstacle detection and bunk feeding
  • CAN-Bus communication for vehicle control and sensor integration
  • Foundation of navigation system already implemented

What We are Looking For: A ROS2 expert who can:

  • Implement new functionalities on the fly
  • Enhance and optimize existing systems
  • Work with CAN-Bus protocols, particularly J1939
  • Integrate and configure off-the-shelf CAN-Bus ECUs
  • Work independently while collaborating with our engineering team

Preferred Skills but i believe the right people can learn some:

  • Strong proficiency in ROS2
  • Experience with GPS-based navigation systems
  • Familiarity with computer vision integration in ROS
  • Expertise in CAN-Bus protocols, especially J1939
  • Experience working with off-the-shelf CAN-Bus ECUs

Nice to Have:

  • Experience with agricultural robotics
  • Knowledge of RTK GPS systems
  • Background in autonomous vehicle development
  • Familiarity with specific ECU brands or models used in agricultural/off-road vehicles

Contract Details:

  • Duration: Will discuss
  • Start Date: Will discuss
  • Remote work possible, but occasional on-site presence may be required

If you’re interested in contributing to cutting-edge agricultural technology and have the skills we’re looking for, please respond with:

  1. A brief overview of your relevant experience, especially with ROS2 and CAN-Bus
  2. Your availability
  3. Your preferred hourly rate or project-based fee

Keep in mind this is a pre-revenue project. We can negotiate fees after we have some discussion on a call.

Thanks,
River

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Hey River, I just sent you an email. Please find attached my CV and portfolio and let me know whether you believe I could be a fit to what you’re looking for.

portfolio

CV_Alexandros_Nikolaou_June2024.pdf (309.1 KB)

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If you are running into issues with your CAN network due to routing/branching and termination issues. You might want to consider if you have a pin replaceable CAN PHY for one that implements CAN-SIC. This allows you to have hub/star topologies instead of the continuous path.

Note J1939 is not a truly “open specification” it still requires use the DBC for the specific “release” of J1939.

Without that you won’t be able to work properly with COTS J1939 based devices as there will be no proper mapping between the PGN/SPNs and also note that OEMs frequently implement proprietary non-published PGN/SPNs that they might only want to share in a binary blob.

If your devices that you are looking at already have the ability for Automotive 2 wire Ethernet I would suggest that over J1939. As J1939 is still stuck on CAN 2.0B and already CAN-XL is being integrated into the industry which is basically able to carry an Enet frame due to it’s MTU (1500+) size therefore being somewhat “interoperable” at the same level of 10Mbps 2wire enet.

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Right. Thanks. I’ll take a double look into these things. The J1939 is required for the engine and we have applications manual for that. Appreciate the input.

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Hey River,
I would also offer my services. This is typically my customer needs, also in agricultural.
Feel free to consult my website https://www.reebot.tech/