Hi there!
I'm Ajay Vishaal, a Robotics Engineer and Freelancer. I've done projects using boards like Arduino, Raspberry Pi, NVIDIA Jetson Nano. Some of my projects include ROS based Autonomous UGV with Dynamic Obstacle Avoidance, Object pick and place using UR5 roboarm.
I've participated in Eyantra - a national level competition conducted by IIT Bombay where I worked on autonomous UGVs. I'm good at ROS, SLAM and Autonomous Navigation. Also I've made a ROS based realtime UGV using jetson nano, Arduino, Lidar, IMUs.
I've gone through your requirements and It is similar to the one I've worked on. So, I'm able to help you solve your problem and make your code work. Looking forward to your positive response. We'll have a discussion and proceed further.