Senior C++ Developer

Senior Robotics Engineer (ROS 2 Migration & Systems) - WorkFlow

Department: R&D Engineering

Location: Octobotics HQ (Noida/On-Site)

The Mission

To successfully migrate our legacy ROS 1 architecture to a high-performance ROS 2 Native ecosystem, architecting a navigation stack that survives the "unheard-of" edge cases of the real world.

1. The Context: The Great Migration

Octobotics is at a pivot point. Our legacy stack was built on ROS 1 (Noetic). It got us to MVP.

But to scale, we are tearing it down and rebuilding in ROS 2 (Humble/Iron).

We are not looking for someone to maintain old code. We are looking for an Architect to lead this migration. You will deal with the pain of bridging ros1_bridge, porting custom messages, and rewriting node lifecycles from scratch.

If you are afraid of breaking changes and complex dependency hell, stop reading now.

2. The "Scorecard" (Outcomes)

• The Migration: Port our core navigation and control logic from ROS 1 to ROS 2. This involves rewriting nodes to utilize Lifecycle Management and Node Composition for zero-copy transfer.
• Nav2 Architecture: We don't just "install" Nav2. You will write custom Behavior Tree plugins and Costmap layers to handle dynamic obstacles in unstructured environments.
• Middleware Optimization: You will own the DDS layer (FastDDS/CycloneDDS). You must tune QoS profiles for lossy WiFi environments and debug discovery traffic issues that traditional network engineers don't understand.
• Sensor Fusion & State Estimation: Implement and tune EKF/UKF pipelines (robot_localization) to fuse IMU, Wheel Odometry, and LiDAR. You must understand Covariance Matrices—if your covariance grows unbounded, you have failed.
• Serialization Strategy: Implement Protocol Buffers (Protobuf) for high-efficiency, non-ROS internal data logging and inter-process communication where overhead must be zero.

3. Technical Requirements (The Hard Skills)

The Stack (ROS 1 & ROS 2):

• Deep ROS 2 Mastery: You know the difference between spin(), spin_some(), and Multi-Threaded Executors. You understand why we are moving to ROS 2 (Real-time constraints, DDS security, QoS).
• Navigation Stack: In-depth knowledge of Nav2 (Planners, Controllers, Recoveries). You understand Global vs. Local planners (A*, DWB, TEB).
• SLAM & Localization: Experience with Graph-based SLAM (Cartographer, SLAM Toolbox). You know how to close loops and optimize pose graphs.

The Math (The "Weeder"):

• Linear Algebra & Geometry: Rigid body transformations are your second language. You understand Quaternions, homogeneous transformation matrices ($T \in SE(3)$), and how to avoid Gimbal Lock.
• Kinematics: You can derive Forward and Inverse Kinematics for Differential Drive and Ackermann steering chassis.
• Probabilistic Robotics: Understanding of Bayesian estimation. You know that sensors are noisy and that "Ground Truth" is a myth.

The Code:

• C++ (14/17): Real-time safe coding standards. RAII, Smart Pointers, and template metaprogramming.
• Python: For prototyping and complex orchestration.

4. The "Topgrading" Filter (Do NOT apply if...)

• You think roslaunch is the same as ros2 launch.
• You have never defined a custom .msg or .srv file.
• You struggle to visualize a TF tree in your head (map -> odom -> base_link).
• You think latency "doesn't matter" in a control loop.

5. The Challenge: Surfing the Tsunami

Let’s be honest: AMR (Autonomous Mobile Robots) is hard.

We are solving problems that are unheard of in the standard "warehouse" world. We deal with dynamic crowds, changing lighting, and network black holes.

There will be days when the Sensor Fusion drifts for no reason. There will be days when the DDS discovery fails because of a multicast storm. There will be architectural "Tsunamis" that threaten to wipe out our sprint.

We are looking for the engineer who doesn't run for higher ground, but grabs a board and says, "I’m ready to surf."

1. Coding and Debugging in C language.
2. Knowledge on ARM based architectures of 8/16/32 Microcontrollers,UART, ADC, DAC,Ethernet, SPI,CAN,I2C and I2S.
3. FPGA RTL coding and Simulation using Verilog/VHDL

Qualification - BE/B.Tech (ECE), M.Sc.(Electronics)

Only Defense and Aerospace, Electronics, Semi-Conductors,

(No Automative industry)

AVANTEL LIMITED is a technology driven public limited company with focus on developing innovative wireless communication products and solutions to meet unique requirements of defense, railways, and telecom sectors. The organization is certified against AS 9100D and ISO 9001:2015 standards for Quality Management System. For more details visit www.avantel.in.

* Experience in C/C++ and have strong experience embedded application development and integration in Linux

* Good in creating unit tests, performing code reviews, optimizing performance and ensuring standards for maintainability  

* Debugging, profiling, and performance optimization skills

QUALIFICATIONS: B.E./ B.Tech. (Electronics/ Electrical/ Mechatronics/ Mechanical)

EMPLOYMENT: Permanent / Full Time

LOCATION: Ahmedabad

EXPERIENCE: 1 to 3 years within automotive industry / software development.

ROLES AND RESPONSIBILITIES

• Develop, Debug simulink/stateflow models according to functional, technical requirements, MAAB guidelines.
• Derive software requirements from system level requirements and establish bi-directional traceability within the models and generated code.
• Generate Code from developed models, generate test vectors, automate tests and document code reviews, test results.
• Automate the data exchange flow between MATLAB models, excel sheets, code testing using m-scripts.

SKILLS AND EXPERIENCE

• Experience in model based development and testing using Mathwork Tools such as MATLAB/Simulink, Stateflow, autocode generation tools Embedded coder or TargetLink.
• Good understanding of the Automotive software development cycle and tool chains
• Should possess a good understanding of C coding, m-scripting, with good debugging and software testing skills.
• Experience in developing MATLAB/ Simulink models from scratch for automotive applications.
• Should have experience in requirements management, and be able to write test cases from them.
• Experience in MBD testing such as MIL/ SIL/PIL.
• Good communication skills in English and Hindi Language.
• Experience in MATLAB verification and validation toolbox like Simulink Design Verifier, Simulink Test, Simulink Coverage is advantageous.
• Basic understanding of Control System Design and Electric Vehicles is a plus.

Position Overview:

This position is part of highly skilled fimrware team that do software board bring up of bare silicon for next generation products. In order to write system software for embedded electronic products, this position requires academic background in electronics engineering to understand hardware concepts such as digital logic, schematics, and microprocessor communications to develop effective embedded software.

Candidate should have complete knowledge of Software development cycle from architecture definition to the implementation.

Responsibilities:

• Must wear multiple hats from analyzing field and factory reported issues to software integration.
• Be a liason for troubleshooting and debugging complex systems and identifying the root cause.
• Develop detailed design documents and customer facing application notes for the system and IOT features for Mobile routers.
• Act as a product lead and be part of bigger team in software bring up.   
• Ability to work on Low level software such as bootloaders and understanding of low level functional blocks is a must.
• Work on Linux kernel and configuration.
• Write or port device drivers for Ethernet, USB, GPIO, LED, Bluetooth, Accelormeter, LCD and touch screen.
• Debug stability issues in data routing between WAN and LAN interfaces.
• Work with Software QA with test plan and execution.
• Work with Hardware team to identify and root cause stability problems.

Experience/Requirements:  

• Demonstrable knowledge of C, C++, Assembly programming skills
• Overall 10+ years of experience in embedded environment preferabily Linux.
• Board bring up proficiency with bootloaders and other low level software, must be very good with debugging techniques.
• Experience in TCP/IP networking is must for trouble shooting throughput and other traffic issues.
• Driver experience with I2C, SPI, UART, LCD, Ethernet, PCIe is a plus.
• Experience with low level debugging using JTAG.
• Experience with Makefiles, and build environments such as PTXDIST, Yocto and Buildroot.    
• Experience with version control such as git and svn.
• Good communication skills and team player.
• Ability to work independently and autonomously to meet deadlines, in a fast-changing environment.

Education:

Must have Skilled and Should Currently have Hand-on experience:

• Programming Language:          C, C++
• Operating System:                   Linux
• Debugging Tools:                     Valgrind / GDB - required
• Version Control:                       (Stash- nice to have) & (Git – Required)
• Build and Deployment:             Bamboo – nice to have
• Operating System:                     Linux
• Experience:                               5 to 8 years (Min. 4 years)

• Would be working on Development and Production Support of Email Mx Product which uses email protocols  (POP, IMAP, and SMTP) developed on C, C++ technology on Linux Platform.
• Technologies they get to learn: C, C++, GDB, Valgrind, python (python to a certain extent).
• Protocols they get to learn:   POP, IMAP, and SMTP and also any and every communication happening in Email Platform
• Source Control:                 Git, Stash
• Build and Deployment:           Bamboo
• Operating System:               Linux

• Debugging a Multicomponent – Multi-Threaded – Multi-Server Environment of a Live Product Deployed to Tier – 1 Customer.
• Opportunity for Improving CPU of exiting product.
• Opportunity for Memory optimization along with some good

• Sound knowledge in controller design and analysis.
• Good understanding in optimisation based control algorithms.
• Experience with implementing PID controller for various unstable system.
• Experience with vehicle modelling and analysis.
• Good understanding of implementation/debugging/testing model and control algorithms.
• Candidate should have experience in programming concepts like OOPS in C++ and Python with robust and efficient coding.
• Experience in Matlab/Simulink, Stateflow.
• Good understanding in code generation, implementation and testing for real time intergration embedded system.

• Algorithm development for different control features.
• Testing of algorithm architecture along with tuning and validation.
• Working with simulation team to integrate and test models and algorithms into simulation environment for rapid development and validation.
• Tuning and validation of plant models to emulate real physical systems’ behaviour
• Co-ordination with other departments to maintain consistency and compatibility in department stack.

• ROS and ROS2 experience
• Vehicle dynamics modelling and simulation.
• Experience with version control using Git.

• Health Insurance
• Employee Stock Options
• Work from Home
• Flexible work hours
• Monthly Team outings and events
• Budget for up-skilling
• Flexible vacation