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Femi Ayoade
Mid-level Robotics Controls Engineer specializing in ROS2 real-time motion control
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About
Robotics software engineer at Earthwise building a full ROS2 Humble warehouse AMR stack for bin picking—owning perception (Livox/Orbbec/RPLidar fusion + calibration), Nav2 navigation with custom planners/behavior trees, and application-layer nodes (barcode scanning, safety monitoring, web HMI). Demonstrated strong real-world debugging and performance tuning (sub-cm AprilTag docking; ~80% reduction in localization failures) plus solid simulation/CI practices (Gazebo + Docker + GitHub Actions).
Experience
Education
Key Strengths
- Built end-to-end ROS2 AMR navigation + perception stack from scratch
- Deep Nav2 customization (behavior trees, custom local/global planners)
- High-accuracy AprilTag-based docking (sub-centimeter at 2–3 meters) via systematic debugging and validation
- Methodical debugging using rosbag replay and rviz2 to isolate issues without hardware
- Improved localization robustness by tuning AMCL and optimizing point-cloud pipeline (reduced failures ~80%)
- Strong distributed robotics networking (VLAN segmentation, DDS QoS prioritization for safety-critical streams)
- Simulation-first development with Gazebo (custom plugins) to validate workflows pre-deployment
- Production-minded deployment practices (Dockerized ROS2 workspaces, GitHub Actions CI with sim-based integration tests)
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