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Navigation Stack Post-Processing Node #8
Labels
draft
This needs to be fleshed out with more detail.
enhancement
New feature or request
help wanted
Extra attention is needed
serial
Related to the serial communication package of the ASS.
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
Other Useful Information
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