State Machine Diagram

Description

A state machine example that highlights some of the advanced layout features available in the SMACC2 RTA.
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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… ! refactor state machine name

ros2 launch sm_branching sm_branching.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_branching

2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} into humble

### Changed - Brettpac branch (#518) - Attempted to fix weird issue with ros buildfarm - Made more adjustments related to the buildfarm issue

### Contributors - brettpac, pabloinigoblasco

2.3.6 (2023-03-12)

1.22.1 (2022-11-09)

### Added - Pre-release

### Contributors - pabloinigoblasco

0.3.0 (2022-04-04)

0.0.0 (2022-11-09)

### Added - Reverted commit dec14a936a877b2ef722a6a32f1bf3df09312542 - Ignored packages which should not be released - Feature/master rolling to galactic backport (#236) - Updated mentions of SMACC/ROS to SMACC2/ROS2 - Made progress on navigation rolling - Renamed folders, deleted tracing.md, edited README.md - Added smacc2_performance_tools - Improved performance tests - Cleaned up sm_respira_1 format - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - Added galactic CI setup and renamed rolling files - Fixed source CI and corrected README overview - Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch - Updated doxygen links - Created new sm from sm_respira_1 - Made core and navigation fixes - Reworked sm_advanced_recovery_1 - Worked on sm_atomic_performance_test_a_2, sm_atomic_performance_test_a_1, sm_atomic_performance_test_c_1 - Modified sm_atomic_performance_test_a_2 - Worked on sm_multi_stage_1 - Updated README.md - Implemented new feature, cb_wait_topic_message - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive - Corrected all linters and formatters

### Contributors - brettpac, Ubuntu 20-04-02-amd64, Denis Štogl

`rst Section_2 ========= Added ----- - Introduce new feature `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally verifies its contents for success. - Implement new client behavior for nav2: wait for nav2 nodes to subscribe to the /bond topic and ensure they are operational. Optionally select nodes to wait for. - Progress in AWS navigation demo. Changed ------- - Improve formatting throughout the changelog entries. Fixed ----- - Resolve navigation parameters issues on sm_dance_bot. - Address minor formatting inconsistencies. - Remove some compile warnings. Removed ------- - Eliminate neo_simulation2 package. Other ----- - Merge and progress in development. - Implement `cb_pause_slam` client behavior. - Visualize TurtleBot3 in sm_dance_bot. - Add lidar show/hide option in sm_dance_bot. - Fix gazebo issues for various bots. - Work on sm_multi_stage_1 functionality. - Collaborators: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.`

Section_3

Added

• Feature/diverse improvements navigation performance (#117)
  • Diverse improvements in navigation and performance.
  • Additional linting and formatting.
• Feature/slam toggle and smacc deep history (#122)
  • Progress in navigation, slam toggle client behaviors, and slam_toolbox components.
  • Introducing smacc2::deep_history syntax.
  • Testing sm_dance_bot with slam pausing/resuming functionality.
• More changes in sm_dance_bot (#125)
• Feature/dance bot s pattern (#128)
  • Polishing sm_dance_bot and s-pattern.
  • Typo correction.
• First working version of sm template and template generator. (#127)
• Feature/sm dance bot refine (#131)
• Feature/sm dance bot refine 2 (#132)
  • Build fix.
• Waypoints navigator bug (#133)
  • Tuning to mitigate overshot issue cases.
• Progress in the sm_dance_bot tests (#135)
  • Progress on markers cleanup.
• Minor navigation improvements (#141)
  • Using local action messages.
  • Removing sm_dance_bot_msgs.
• Feature/nav2z renaming (#144)
  • Navigation 2 stack renaming.
  • Added SVGs to READMEs of atomic, dance_bot, and others (#140).
  • Added remaining SVGs to READMEs (#145).
• Update package list. (#142)
• Add SM Atomic SM generator. (#143)
• Rolling Docker environment to be executed from any environment (#154).
• Feature/sm dance bot strikes back refactoring (#152)
  • Slight waypoint 4 and iterations changes so the robot can complete the course (#155).
• Feature/migration moveit client (#151)
  • Initial migration to smacc2.
  • Progressing in the moveit migration testing.
  • Adding .reps dependencies and fixing build errors.
  • Adding dependency to ur5 client.
• Initial state machine transition timestamp (#165)
• Add QOS durability to SmaccPublisherClient (#163)
  • Adding QOS durability to SmaccPublisherClient.
  • Fixing a missing colon.
  • Removing a line.
  • Adding reliability QOS config.
• Feature/testing moveit behaviors (#167)
  • More testing on moveit.

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