The code right now is pretty cumbersome and it would be easier if we made the main board code into a ROS package.
We can use ROS Kinetic or Melodic - whichever runs the best on the raspberry pi.
I'm thinking we have 3 nodes: serial_node, kalman_node, and vision_node.
The nodes would communicate over topics through messages rather than the convoluted pipe system we have. Plus, this would be a multiprocess approach just like we have so performance should not decrease. The code will be more readable.
The code right now is pretty cumbersome and it would be easier if we made the main board code into a ROS package.
We can use ROS Kinetic or Melodic - whichever runs the best on the raspberry pi.
I'm thinking we have 3 nodes: serial_node, kalman_node, and vision_node.
The nodes would communicate over topics through messages rather than the convoluted pipe system we have. Plus, this would be a multiprocess approach just like we have so performance should not decrease. The code will be more readable.