I’m building a new robotic platform and need an experienced software engineer who is completely at home in the ROS ecosystem. The mechanical and electronic design are already handled; what I’m missing is someone who can take charge of the software layer, wire the sensors, actuators and high-level behaviours together, and leave me with a clean, well-documented codebase. Here is where the project currently stands: • The robot’s compute unit is running Ubuntu, but I haven’t decided whether ROS 1 or ROS 2 will serve us better. I’d like your advice on that choice before development begins. • Core functionality—navigation, obstacle avoidance and basic manipulation—must be brought online first, followed by a simple REST or gRPC interface so other services can talk to the robot. • All hardware drivers are available from the manufacturers, yet they still need proper ROS node wrappers and message definitions. Deliverables 1. Recommendation memo (ROS 1 vs ROS 2) with clear rationale for the final selection. 2. Modular ROS packages for sensor input, motion planning and actuator control, written in clean C++/Python and conforming to ROS coding standards. 3. Launch files, parameter files and a README that makes it easy for another developer to spin the system up from scratch. 4. A brief hand-off session (recorded) walking me through the architecture, build process (catkin/colcon) and any future extension points. Acceptance criteria • All nodes compile and run without errors on a fresh Ubuntu install. • Real-time sensor data is visualised in RViz and fed into navigation successfully. • Code passes roslaunch tests and cpplint/flake8 with no critical warnings. If you have 4+ years of hands-on ROS development and can start soon, I’m ready to move quickly. Please mention a project where you integrated multiple sensors in ROS so I know you’ve read the brief.