State Machine Diagram

Description

A completely minimal state machine example.
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Build Instructions

First, source your ros2 installation.

source /opt/ros/humble/setup.bash

Before you build, make sure you’ve installed all the dependencies…

rosdep install --ignore-src --from-paths src -y -r

Then build with colcon build…

colcon build

Operating Instructions

After you build, remember to source the proper install folder…

source ~/workspace/humble_ws/install/setup.sh

And then run the launch file…

ros2 launch sm_atomic sm_atomic.launch

Viewer Instructions

If you have the SMACC2 Runtime Analyzer installed then type…

ros2 run smacc2_rta smacc2_rta

If you don’t have the SMACC2 Runtime Analyzer click here.

Changelog for package sm_atomic

Version 2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} repository. - Brettpac branch (#518) - Attempted fixes for ros buildfarm issue.

### Contributors - brettpac - pabloinigoblasco

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

### Added - Pre-release.

### Contributors - pabloinigoblasco

Version 0.3.0 (2022-04-04)

No significant changes.

Version 0.0.0 (2022-11-09)

### Added - Reverted commit dec14a936a877b2ef722a6a32f1bf3df09312542. - Ignored packages not to be released. - Feature/master rolling to galactic backport (#236) - Updated mentions of SMACC/ROS to SMACC2/ROS2. - Progress on navigation rolling. - Renamed folders, deleted tracing.md, edited README.md. - Added smacc2_performance_tools. - Performance tests improvements. - Format cleanup for sm_respira_1. - Optimized dependencies in move_base_z_planners_common. - Renamed event generator library. - Added galactic CI setup and renamed rolling files. - Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch. - Created new sm from sm_respira_1. - Several core improvements during navigation testing. - New feature, cb_wait_topic_message: asynchronous client behavior. - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic. - Corrected all linters and formatters.

### Contributors - pabloinigoblasco - brettpac - Denis Štogl

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for `nav2`: `add` behavior waits for nav2 nodes subscribing to the `/bond` topic and ensures they are alive; optional node selection available - Progress in AWS navigation demo - Base for the `sm_aws_warehouse` navigation - Navigation parameters fixes on `sm_dance_bot` - New client behavior: `cb_pause_slam` - `sm_dance_bot_lite` visualizing TurtleBot3 - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes - AWS demo improvements - `sm_multi_stage_1` enhancements - Diverse improvements in navigation and performance Changed ------- - Minor formatting improvements - Merge and progress in development - Hotfix for minor issues - Cleaning and lidar show/hide option in `sm_dance_bot` - Gazebo fixes to show the robot and lidar Removed ------- - Removed some compile warnings - Removed `neo_simulation2` package Fixed ----- - Corrected formatting issues - Adjusted build packages for source CI - Fixed various issues in navigation testing Collaborators ------------- - Co-authored by Ubuntu 20-04-02-amd64 <brett@robosoft.ai>`

pabloinigoblasco

## Section_3

### Added - Feature/diverse improvements in navigation performance (#117) - Feature/slam toggle and smacc deep history (#122) - First working version of sm template and template generator (#127) - Add SM Atomic SM generator (#143) - Rolling Docker environment to be executed from any environment (#154) - Add QOS durability to SmaccPublisherClient (#163) - Feature/aws navigation sm dance bot (#174) - Waypoint Inputs (#178)

### Changed - Move method after the method it calls to prevent recursion (#126) - Moved reference library SMs to smacc2_performance_tools (#166)

### Fixed - Resolve compile warnings (#137) - Fix CI: format fix python version (#148)

### Removed - Remove merge markers from a python file (#119) - Remove node creation and create only a logger (#149) - Removing parameters smacc (#147) - Removing sm_dance_bot_msgs

### Miscellaneous - Minor linting and formatting improvements - Minor format tweaks - Minor navigation improvements - Minor tuning to mitigate overshot issue cases - Update package list (#142) - Noticed launch command was incorrect in README.md, fixed launch command for sm_dance_bot_strikes_back and removed some comments - Update READMEs with added SVGs for atomic, dance_bot, and others - Warehouse2 progress (#179) - Format improvements - Headless and other fixes

Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>> Co-authored-by: DecDury <<declandury@gmail.com>> Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

`rst Section_4 ========= Added ----- - Default values for various features. - BrettPac branch (#184). - Redoing waypoints for sm_dance_bot_warehouse_3. - More waypoints added. - SrConditional fixes and formatting (#168). - Warehouse2 feature added on Dec 14 (#185). - Feature for sm warehouse 2 on Dec 13 (#186). - Finetuning waypoints (#187). - Pure spinning behavior with missing files. - Minor changes for planner on Dec 16 (#191). - Undo motion feature on Dec 20 (#196, #198). - Sync feature on Dec 21 (#199). - Warehouse2 features on Dec 22 (#200) and Dec 23 (#201). - Minor tune feature (#203). - Fixes and improvements for warehouse 3 (#204). - Backport to Foxy (#206). Changed ------- - Various formatting fixes. - Trailing spaces fixed. - Codespell corrections. - Python linters warnings corrected. - CI build added for Galactic due to Navigation2 issues in Rolling. - Partial changes for ament_cpplint added. - Dependency tf2_ros included for finding includes. - Several linters disabled/enabled and updated. - ccache version bumped. - Formatters corrected. - Branching example added. - Extension changes for imports. - cppcheck enabled. - Python file formatting corrected. - Necessary package included and Threesome launch edited. Removed ------- - Manual installation of ros-rolling-ros2trace. - Tracing directory deleted. - ManualTracing alternative removed. Fixed ----- - Deadlock issues in warehouse 3 resolved. - Moveit repository download issue fixed. - Missing file added for warehouse2. Authors ------- - Pablo Iñigo Blasco (@pabloinigoblasco) - Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai> - Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>`

`rst Section 5 ========= Added ----- - Added smacc2_performance_tools for performance testing. - Added galactic CI setup and renamed rolling files. (#58) - Added new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents for success. - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic and waiting for them to be alive. Optionally select the nodes to wait. Changed ------- - Renamed folders, deleted tracing.md, and edited README.md. - Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69). - Updated c_cpp_properties.json. - Corrected trailing spaces. - Optimized dependencies in move_base_z_planners_common. - Renamed event generator library. - Corrected all linters and formatters. Fixed ----- - Do not execute clang-format on smacc2_sm_reference_library package. - Fixed source CI and corrected README overview. (#62). - Fixed pre-commit issues in various packages. Removed ------- - Removed redundant note in the documentation. Contributors ------------ - Pablo Iñigo Blasco - Ubuntu 20-04-02-amd64 <brett@robosoft.ai> - Denis Štogl <destogl@users.noreply.github.com> - Denis Štogl <denis@stogl.de>`

Section_6

Added

• Feature/sm aws warehouse (#94)
  • Base for the sm_aws_warehouse navigation
  • Progress in AWS navigation
  • Several core improvements during navigation testing
  • Formatting improvements
  • Progress in AWS navigation demo
  • New feature, cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally checks its contents for success
  • Adding new client behavior for Nav2, waiting for Nav2 nodes subscribing to the /bond topic and ensuring they are alive

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