RoboSense‑Fusion

ROS2‑based Multi‑Sensor Perception Framework in Modern C++

RoboSense‑Fusion is a modular ROS2 perception engine written in Modern C++ (C++20). It targets indoor mobile robots operating in factory or warehouse environments and is designed to run both on a development PC and later on embedded SoCs such as NVIDIA Jetson, TI Jacinto, or NXP platforms.

The system provides a complete perception pipeline: radar, camera, vehicle dynamics, detection, tracking, and multi‑sensor fusion.

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🚀 Core Goals

• Modern C++ implementation (C++17/20)
• ROS2‑native architecture (rclcpp, TF2, lifecycle nodes)
• Real‑time‑friendly design for embedded SoCs
• Modular sensor interfaces (radar, camera, dynamics)
• Extensible detection and fusion pipeline
• Clean separation of perception → detection → fusion

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🧱 System Architecture

Sensor Layer

• radar_sim_node — synthetic FMCW radar detections
• radar_tracker_node — Modern C++ radar tracking algorithm
• camera_node — USB/video camera publisher
• camera_preprocess_node — image preprocessing
• vehicle_dynamics_node — ego‑motion publisher

Processing Layer

• Radar preprocessing and tracking
• Camera preprocessing and detection
• Ego‑motion integration

Fusion Layer

• fusion_node — combines radar tracks, camera detections, and dynamics
• Outputs fused objects for navigation and visualization

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📡 ROS2 Topics

Topic	Description
/radar/detections	Raw radar detections
/radar/tracks	Tracked radar objects
/camera/image_raw	Raw camera frames
/camera/preprocessed	Preprocessed image data
/camera/detections	Camera‑based detections
/vehicle/dynamics	Ego‑motion data
/fusion/objects	Fused object list

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🧩 Message Definitions (Conceptual)

RadarDetection.msg

• float32 range
• float32 azimuth
• float32 radial_velocity
• float32 snr

RadarTrack.msg

• int32 id
• float32 x
• float32 y
• float32 vx
• float32 vy
• float32 confidence

CameraDetection.msg

• int32 id
• float32 x
• float32 y
• float32 width
• float32 height
• float32 confidence

VehicleDynamics.msg

• float32 speed
• float32 yaw_rate
• float32 steering_angle

FusedObject.msg

• int32 id
• float32 x
• float32 y
• float32 vx
• float32 vy
• uint8 source_flags

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📁 Project Structure (C++‑oriented)