Robotics Middleware Engineer (human)

Your Mission \& Challenges
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• ROS 2 stack: driver nodes, ros2\_control YAML composition, DDS QoS tuning, Nav2 configuration, launch system architecture, diagnostic framework. Jazzy as the production target; Humble fallback for legacy platforms.


• OROCOS RTT integration: port\-based hard\-RT component model — used for Pinocchio \+ WBC solver composition pipelines where ROS 2 callback timing variance is unacceptable. Owns the OROCOS robot abstraction adapter shim.


• Apex.OS / Apex.Middleware: deterministic ROS 2 variant relevant to SIL/PLd\-certified deployment paths (Industrial Mobile Manipulator product). Owns the migration story from Jazzy to Apex.OS for safety\-certified configurations.


• DDS infrastructure: FastDDS (current production), Cyclone DDS (Humble default), RTI Connext (some customer environments). Owns the implementation trade\-off analysis and migration paths between them.


• DDS\-RTPS protocol mechanics — the wire\-protocol level where QoS settings actually behave (or fail to behave) as the documentation implies. QoS profile design, discovery tuning, fragmentation, reliability semantics.


• Zero\-copy IPC: Iceoryx integration for sub\-millisecond intra\-host transport. Performance profiling of zero\-copy paths under 1 kHz RT constraints.


• Eclipse Zenoh: emerging alternative for fleet\-scale and edge scenarios where DDS discovery does not scale. Co\-owned with the Robot Connectivity Engineer for fleet\-side integration.


• Cross\-middleware contract design: the robot abstraction layer exposes itself to ROS 2 consumers, OROCOS pipelines, and gRPC clients simultaneously via different backend variants. You own the schema coherence and behavioural equivalence across these surfaces.


• Observation pipeline middleware: synchronising sensor streams by sequence number, handling the middleware\-side of the observation assembly for VLA\-style inference inputs.

• C\+\+ depth with real\-time\-safe patterns — lock\-free queues, zero\-copy semantics, allocation discipline, RT\-safe logging.


• Operational understanding of how middleware QoS settings behave at the wire\-protocol level — not just configuration syntax. Comfortable reasoning about reliability, durability, history depth, fragmentation, discovery, and the failure modes each produces under load.


• Production experience integrating middleware into a real\-time robot control loop with deterministic timing requirements.


• Production hands\-on in AT LEAST ONE of the four core middleware paradigms (treated as parallel valid entry paths): (a) ROS 2 with ros2\_control hardware interface authoring and lifecycle node design (Jazzy or Humble); (b) OROCOS RTT — component authoring, port\-based composition, hard\-RT deployment; (c) Apex.OS / Apex.Middleware — deterministic deployment, especially in automotive or industrial SIL contexts; (d) direct DDS implementation work — FastDDS, Cyclone DDS, or RTI Connext at the configuration\-and\-tuning level (not consumer\-of\-defaults), including QoS profile design for production deployments.

• Hands\-on across MORE THAN ONE of the four paradigms above — multi\-middleware experience is the role's distinguishing competence, not a baseline requirement.


• Eclipse Zenoh for fleet\-scale distributed messaging or edge scenarios.


• Iceoryx or alternative zero\-copy IPC integration.


• Multi\-middleware bridging patterns: ros1\_bridge, OROCOS\-ROS2 component bridging, or custom abstraction layers.


• DDS Security plug\-ins (authentication, access control, cryptographic transformation) for SIL\-grade deployments.


• Open\-source contributions to any of the major middleware ecosystems (ROS 2 core, OROCOS Toolchain, Apex.OS, eProsima FastDDS, Eclipse Cyclone DDS, RTI Connext community).

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