ROS 2 Developer for RTK Integration

We are seeking an expert ROS 2 developer to integrate a Unicore UM982 dual-antenna RTK receiver with an NVIDIA Jetson Nano to achieve reliable, centimeter-level positioning and precise moving baseline yaw. If you have hands-on experience bridging this specific hardware stack to achieve true centimeter accuracy, then you already know exactly what we need you to do. We have zero tolerance for legacy ROS 1 code (rospy, catkin) or generic AI-generated scripts. We need deterministic, production-grade ROS 2 C++ or Python nodes capable of handling high-frequency UART/serial parsing and proper TF2 alignments on embedded Linux. 🚨 STRICT ZERO-AI POLICY 🚨 If we detect or suspect that you are using AI (ChatGPT, Claude, Copilot, etc.) to generate your proposal or write our code, you will be instantly dismissed. We need a human engineer who understands hardware serial interfaces, NMEA/binary protocols, and real-time RTK constraints. Core Deliverables Driver Integration: Install, configure, or write a robust ROS 2 driver for the Unicore UM982 to interface with the Jetson Nano via serial/USB. Data Publishing: Accurately parse the dual-antenna baseline data and publish standard, timestamp-synced ROS 2 messages (sensor_msgs/NavSatFix, sensor_msgs/Imu, and/or nav_msgs/Odometry). RTK Corrections: Configure the NTRIP client to feed RTCM3 corrections into the UM982 so the system achieves and maintains an RTK_FIXED state. TF2 & Frame Alignment: Ensure the true heading/yaw from the dual-antenna setup is correctly broadcast to the ROS 2 TF tree (e.g., aligning base_link relative to map or odom). Documentation & Deployment: Provide a clean colcon build workspace structure, modern CMakeLists.txt dependencies, and a single .launch.py file to start the entire sensor stack. Required Skills & Experience Deep ROS 2 Architecture: Highly proficient in modern ROS 2 distributions (Humble, Iron, or Jazzy). Embedded Hardware: Proven experience working directly with NVIDIA Jetson boards (Ubuntu/JetPack) and managing serial port permissions/baud rates. GNSS/RTK Expertise: You must understand how dual-antenna moving baselines work, how to interpret RTK fix states, and how to configure Unicore/U-blox receivers. Systems Engineering: Strong understanding of Quality of Service (QoS) profiles, rclcpp/rclpy best practices, and deterministic callbacks to prevent latency spikes. Mandatory Screening Questions (Answer these in your proposal to be considered) The UM982 provides true heading via a moving baseline between its two antennas. How would you map this yaw angle into a standard ROS 2 message, and which frame should it dictate in the TF2 tree? What baud rate and message formats (e.g., NMEA vs. Unicore binary like PVTSLN) would you recommend over the Jetson’s serial connection to maintain a 10Hz to 20Hz update rate? Briefly describe your experience handling NTRIP RTCM corrections in a ROS 2 environment. Project Scope Type: Fixed-price milestone to achieve RTK_FIXED and reliable heading on the Jetson, with ongoing hourly work available for subsequent Nav2 / sensor fusion integration. Timeline: Immediate start.