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Sai Manikanta Servirala
Robotics Software Engineer specializing in ROS 2/DDS infrastructure and fleet observability
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About
Robotics software engineer focused on production ROS 2 (Humble) systems for warehouse AMRs, with strong architecture and integration chops. Built a ROS 2 Lifecycle-based hardware abstraction layer to decouple autonomy from sensors (including mid-production LiDAR vendor swap), enabling mixed fleets and cutting bring-up/integration time dramatically. Also develops Nav2 plugins, MPPI tuning workflows, and scalable simulation/CI tooling (Gazebo, Docker, GitHub Actions) for high-throughput testing.
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Key Strengths
- Architected ROS 2 Lifecycle-based HAL enabling sensor swaps via config (40% faster new hardware integration)
- Enabled parallel hardware/software development, reducing new robot bring-up time ~60%
- Built standardized driver template repo with CI/CD checks to reduce ROS 2 Lifecycle learning curve
- Developed custom Nav2 backup/retry recovery plugin for narrow warehouse aisles with integrated collision checking
- Data-driven debugging using bag files; tuned MPPI controller (gamma, accel limits, obstacle cost critic) to eliminate wobbling
- Multi-robot communication standardization using consistent topics, namespaces, and TF prefixes to prevent data collisions
- Automated Gazebo navigation regression tests via Python (50 tests vs 5 manual) and resolved sim-time timeout issues by enforcing use_sim_time
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