This package bridges ROS2 messages and a Gaia Platform declarative ruleset. It is a template for the Baggage Advisor scenario, an airport baggage scenario where scanned QR codes inform airport employees about how to load a cart with baggage.
You can "play along at home" by holding QR codes in front of your webcam. A video feed will appear in an rqt_image_view window.
Run ros2 launch baggage_advisor baggage_advisor.launch.py to try out the Baggage Advisor scenario. Even after closing the video feed window, make sure to press Ctrl+C in the terminal. If the video feed fails, make sure to select the correct video device in the video_device parameter in config/camera.yaml.
A Composable Node that subscribes to ScanResult messages containing QR codes and inserts them into the Gaia Platform database to trigger rules in a Gaia Platform ruleset. The ruleset uses this node to publish ImageMarkers to draw an overlay on the QR code video feed.
- Input: Subscribes to barcode_msgs/ScanResult messages on the
barcodestopic - Output: Publishes image_draw_msgs/ImageMarker messages on the
image_markerstopic
This schema describes Gaia Platform database tables that represent data about carts, baggages, baggage manifests, and other parts of the Baggage Advisor scenario.
This ruleset reacts to inserts and updates in database tables to run the business logic of the Baggage Advisor scenario. It uses a pointer to a global singleton instance of the advisor node to construct ROS2 publishers and use ROS2 logging.