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Abhinav Garg
Senior Robotics Software Engineer specializing in ROS 2 autonomy and distributed systems
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About
Robotics Software Engineer with 2.5 years at the Army Research Lab building production tools and cloud infrastructure for large-scale ROS/Unity simulation on AWS. Created a Python GUI to streamline analysis of massive (100GB) ROS bag/MCAP datasets and has deep ROS2/Nav2 performance debugging experience (executor/QoS/TF tracing). Also built an in-house ROS perception pipeline for an assembly-line use case, reaching 92% accuracy.
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Key Strengths
- Built a Python GUI tool to analyze 100GB ROS bag/MCAP simulation outputs with batch processing and automated metrics/graph exports
- Solved large-file ingestion/memory constraints using streaming JSON parsing (ijson) and batching
- Designed and scaled cloud simulation infrastructure on AWS (Dockerized ROS/Unity sims across thousands of EC2 instances)
- Debugged ROS2 Nav2 real-time freezes using end-to-end instrumentation (ROS2 tracing, TF age, callback/executor analysis) and fixed via executor/callback group isolation
- Developed an end-to-end ROS perception package (data collection/annotation to model deployment) achieving 92% classification accuracy for assembly-line part detection
- Architected heterogeneous multi-robot communication with ROS2/DDS, QoS-by-topic, adapter nodes for canonical messaging, and heartbeat/task coordination
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