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scripts_1 — Barcode & QR Code Active Inspection Tour Scripts

This directory contains the autonomous inventory inspection and QR/barcode scanning scripts for the WareOps Autonomous Warehouse Robot System.

These scripts are specifically designed to coordinate with the active vision scanner node (active_vision_scanner_simulation) via the /bot_status ROS 2 topic.

📁 Directory Structure

scripts_1/
├── full_tour.py                        # Master autonomous warehouse inspection loop
├── initialise.py                       # Delayed AMCL initial pose setup
├── go_to_rack_r4_a3.py                 # Single-rack inspection for Rack R4 A3
├── go_to_rack_r4_a2.py                 # Single-rack inspection for Rack R4 A2
└── go_to_rack_r3_b3.py                 # Single-rack inspection for Rack R3 B3

🔄 Inspection Tour Orchestration (full_tour.py)

full_tour.py is invoked when clicking "🚀 Full Warehouse Detection" on the Stock Web Dashboard (warehouse_stock_navigation_bot):

Execution Sequence:

  1. Nav2 Activation: Waits for the Nav2 navigation stack lifecycle managers to reach the active state.
  2. Sequential Rack Navigation:
    • Intermediate Waypoint 1 (0.613, -2.945)
    • Rack R4 A3 (1.922, -2.745) — Triggers scan
    • Rack R4 A2 (3.658, -2.684) — Triggers scan
    • Intermediate Waypoint 2 (7.692, -2.926)
    • Rack R3 B3 (2.981, -2.825) — Triggers scan
    • Origin / Home (0.000, 0.000)
  3. Scanner Handshake Protocol:
    • Upon arriving at a target rack, the script publishes "Reached <location>" to /bot_status.
    • The active scanner node sweeps the 2-DOF camera gimbal across shelves 1–4, verifies inventory codes, and broadcasts "Succeeded <location>" back to /bot_status.
    • Once confirmation is received, the script proceeds to the next aisle.
  4. Shutdown & Return:
    • Upon completing the full inspection tour, it publishes "stop" to /camera_system and returns to origin.

🚀 Standalone Execution

Run the master tour manually from the terminal:

source ~/WareOps/install/setup.bash
python3 scripts_1/full_tour.py

Or inspect an individual rack:

python3 scripts_1/go_to_rack_r4_a3.py