wareops_system_launch

wareops_system_launch — System Launch Orchestration Package

Deployment Target: 🚀 Master Simulation Launch & System Orchestration

wareops_system_launch is a ROS 2 Python (ament_python) package that serves as the centralized orchestration hub for the WareOps Autonomous Warehouse Robotics System. It provides unified multi-node launch files that coordinate the Gazebo simulation environment, Nav2 navigation stack, teleoperation drivers, active vision rack scanner, initial AMCL pose setup, and web dashboards.

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📁 Package Structure

wareops_system_launch/
├── launch/
│   ├── full_system.launch.py           # Master launch for stock inspection & verification
│   └── robot_webcontroller.launch.py   # Launch for autonomous delivery web dashboard
├── package.xml                         # Package manifest & dependencies
├── setup.cfg                           # Python package configuration
├── setup.py                            # Setup script installing launch files
├── README.md                           # Documentation
└── wareops_system_launch/
    └── __init__.py

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🚀 Launch Configurations

1. Master Inspection System (full_system.launch.py)

Launches the complete autonomous stock tracking and QR/barcode scanning stack:

ros2 launch wareops_system_launch full_system.launch.py

Included Nodes & Subsystems:

1. Gazebo Simulation & Nav2 (Simulation/display_navigation.launch.xml): Spawns the warehouse world (warehouse.sdf), mobile robot model, AMCL localization, Map Server (New_map.pgm), and Nav2 costmap planners.
2. Joystick Teleoperation (joy_teleop_simulation/teleop_sim.launch.py): Gamepad teleop node and joy driver for manual override.
3. Active Vision Scanner (active_vision_scanner_simulation/scanner_system.launch.py): 2-DOF active camera gimbal scanner with dual-engine barcode/QR detection and CSV audit logger.
4. Stock Navigator Web Dashboard (warehouse_stock_navigation_bot/stock_navigator.launch.py): Flask web server on port 5000 with live camera stream, product catalog search, and one-click "Full Warehouse Detection" tour trigger.
5. Delayed Lifecycle Actions (12-second delay via TimerAction):
   • python3 scripts/initialise.py: Publishes initial AMCL pose estimation so Nav2 is immediately active without manual 2D Pose Estimation in RViz.
   • python3 -m webbrowser http://localhost:5000: Automatically opens the stock navigation dashboard in the default browser.
   • ros2 run rqt_image_view rqt_image_view: Opens live inspection viewer for /annotated_image.

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2. Autonomous Delivery Web Controller System (robot_webcontroller.launch.py)

Launches the simulation along with the standalone Autonomous Delivery & Waypoint Web Dashboard:

ros2 launch wareops_system_launch robot_webcontroller.launch.py

Included Nodes & Subsystems:

1. Gazebo Simulation & Nav2 (Simulation/display_navigation.launch.xml): Warehouse world and full navigation stack.
2. Joystick Teleoperation (joy_teleop_simulation/teleop_sim.launch.py): Gamepad teleop controller.
3. Delayed Lifecycle Actions (12-second delay via TimerAction):
   • python3 scripts/initialise.py: Sets initial AMCL pose estimation.
   • python3 scripts/web_dashboard.py: Starts the delivery web controller server on port 5000 (live camera feed, virtual teleop joystick, gimbal sliders, target buttons, and delivery status logs).

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🛠️ Build & Installation

Build the package using colcon:

cd ~/WareOps
colcon build --packages-select wareops_system_launch
source install/setup.bash

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📡 Dependencies

• rclpy
• launch
• launch_ros
• Simulation
• joy_teleop_simulation
• active_vision_scanner_simulation
• warehouse_stock_navigation_bot
• nav2_bringup