# navigation_stack

## Motion Planning Demo
Here are some preliminary results for motion planning based on state lattice in Frenet frame and parametric curve in the form of cubic splines:

![spline_with_lattice](https://github.com/Tensor-Robotics/navigation_stack/assets/53962958/ba3d15e8-a010-451f-8978-22912e787a23)

## Sensor Fusion Demo
Here are some preliminry results for sensor fusion of data from Laser and Radar using Extended Kalman Filter:
![localization_output](https://github.com/Tensor-Robotics/navigation_stack/assets/63463655/18a39018-ae2d-4705-82d5-c99e589dee5b)


## Goal
The goal of this project is to build a navigation stack from ground up consisting of perception, prediction, localization, planning and controls modules. 
Each of these modules consists of two individual packages -> domain and interface. The domain package holds all the core logic whereas the interface packageis responsible for communication between modules.

This project is being implemented in ROS2.

At its current stage, the stack can generate cubic splines for an autonomous vehicle as well as localize itself using kalman filter.

The directory tree inside the src/ directory of the navigation stack looks like the following:

```
.
 clear.sh
 common
  domain
   CMakeLists.txt
   core_datastructures
    Point.cpp
    Point.hpp
    Pose.cpp
    Pose.hpp
    Posture.cpp
    Posture.hpp
   package.xml
  interface
      CMakeLists.txt
      converters
       converters.cpp
       converters.hpp
      interface_msgs
       msg
           Posture.msg
           Spline.msg
      package.xml
 modules
     localization
      domain
       CMakeLists.txt
       package.xml
      interface
          CMakeLists.txt
          package.xml
          src
              localization_publisher.cpp
     trajectory_generation
         domain
          CMakeLists.txt
          package.xml
          spline_generation
              cubic_spline_generator.cpp
              cubic_spline_generator.hpp
              i_spline_generator.hpp
              test.cpp
         interface
             CMakeLists.txt
             dev_tools
              subscriber_member_function.py
             package.xml
             src
                 main.cpp
                 trajectory_publisher.cpp
                 trajectory_publisher.hpp
```