Navigation Stack Post-Processing Node

[zghera]

Description

Once #7 is complete, create a post-processing node that subscribes cmd_velocity as well as other topics from goal setting node (e.g. ebrake topic) and then publishes the topic with final info needed by the serial communication node (ti_comm_node as of now).

Currently, all of the processing in addition to the serial interfacing is done in the serial comm. node. This fix will increase modularity/extensibility (if serial packets need new information, just add a new topic that it subscribes to with exactly the info it needs - no processing) and increase the clarity of the software system as a whole by following the single responsibility principle.

Current architecture idea (excluding extra topics such as an ebrake topic):

View on draw.io here.

Sub-tasks

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• Make sure your code follows the style guide.

Other Useful Information

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[zghera]

@ihagedo what do you think of the suggested system diagram above? Any suggestions?

Once you approve, we should break this down into sub-tasks. For that, we should probably talk live or at least over the phone. Ping me in Slack with times when you are available to discuss this.