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.

https://www.sae.org/j1939-dbc

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/