ROS2 Baxter Simulation Debugging
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About this role
Software Testing, Robotics, Full Stack Development, Simulation, Robot Operating System (ROS), Performance Tuning, Gazebo, MuJoCo / PyBullet Physics Simulation, Sensor Integration · I am deep into a ROS 2 + MoveIt workflow and my current road-block is getting the Baxter robot arm to run cleanly in simulation. Move groups load, but trajectory execution drops frames and joint limits occasionally mis-report, so I need a seasoned eye to trace the problem through the URDF, controllers, and MoveIt plugin chain.
Once Baxter is steady I want to pivot to an unmanned car scenario in the same ROS 2 environment—think full-stack bring-up of sensors, navigation stack, and path-planning algorithms—so fluency with algorithm profiling and optimisation across platforms will be valuable.
Key deliverables • A fully functional Baxter arm simulation that plans and executes repeatable, accurate motions without controller or kinematic errors • Step-by-step notes or patched files so I can reproduce the fix from a clean workspace • Starter launch package for the ROS 2 unmanned car experiment, including sample maps, sensor stubs, and a working navigation pipeline • Brief summary of algorithm changes or parameter tweaks you made and why they matter
Acceptance criteria 1. Baxter trajectories run at 1× real time for at least ten consecutive pick-and-place cycles with no joint