Software Engineer Principal I

Terex Corporation

8d•Hybrid

About The Position

Join our team at Genie and embark on an exciting opportunity as we seek a skilled and dedicated principal robotics engineer to contribute to the software controls systems team. At Genie we believe in fostering a vibrant and inclusive work culture where every person is empowered to thrive. We’re dedicated to driving quality, innovation, embracing diversity, and creating an environment where everyone feels valued and respected. We’re committed to excellence in everything we do, and we’re seeking talented individuals who share our passion and values to join our team. As a Software Engineer Principal I, you will be a technical leader responsible for designing and implementing advanced control systems for Genie’s equipment. You will collaborate across multidisciplinary teams to architect scalable, real-time solutions for industrial applications. This is an individual contributor role with broad technical influence and mentorship responsibilities, requiring deep expertise in robotics, control theory, and embedded systems.

Requirements

Education: Bachelor's degree in Robotics, Computer Science, Mechanical Engineering, Mechatronics, or similar field
Control Theory Expertise: Deep understanding of classical and modern control theory, including vehicle kinematics and dynamics.
ROS2 Mastery: Proven experience with ROS2, particularly ros2_control, hardware interfaces, and node lifecycle management.
Vehicle Architecture Experience: Experience designing distributed control architectures for mobile robots, automotive systems, or heavy machinery.
Embedded Protocols: Hands-on experience with: CAN bus (J1939 or CANopen) I2C SPI RS485
C/C++ Proficiency: Strong real-time C++ skills (C++20/23) for constrained embedded environments.

Nice To Haves

Education: MS in Robotics or 8 years of relevant experience
Hydraulics Experience: Electro-hydraulic control experience in heavy machinery, agriculture, or construction equipment.
Safety-Critical Systems: Knowledge of functional safety standards or safety-critical RTOS implementations.
Simulation: Experience with URDF and simulators such as Gazebo or Isaac Sim.
Microcontrollers: Experience with real-time microcontrollers and application processors, including Yocto Linux.

Responsibilities

Architect the Vehicle Control System
Lead the design of the complete vehicle architecture.
Decide what logic runs on the central high-performance embedded computer running Linux versus what is offloaded to distributed real-time microcontrollers.
ROS2 Control Implementation
Implement ros2_control hardware interfaces that abstract complex custom hardware into standard interfaces.
Develop firmware and drivers to interface ROS2 with low-level custom hardware boards via: CAN-FD (J1939 / CANopen) I2C SPI UART
Algorithm Design
Design and tune closed-loop control algorithms (PID, MPC, LQR) to manage vehicle dynamics.
Actuate multi-DOF systems with precision and implement controllers within ROS2.
Hardware Interface, Sensor Fusion & Instrumentation
Select and integrate sensors including IMUs, encoders, LiDAR, GPS, and pressure transducers.
Create accurate vehicle state estimates through sensor fusion.
Hydraulic Systems Control
Model and control complex non-linear hydraulic systems (valves, pumps, cylinders).
Convert digital control commands into fluid power actions.
Mentorship
Act as the subject matter expert in control theory and robotics.
Bridge knowledge gaps across embedded and application software teams.