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Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

sm_cl_px4_mr_test_1 package from SMACC2 repo

smacc2 cl_foundation_pose cl_gcalcli cl_generic_sensor cl_http cl_keyboard cl_lifecycle_node cl_mission_tracker cl_modbus_tcp_relay cl_moveit2z cl_nav2z backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner cl_px4_mr cl_ros2_timer eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_branching sm_cl_gcalcli_test_1 sm_cl_keyboard_unit_test_1 sm_cl_px4_mr_test_1 sm_cl_ros2_timer_unit_test_1 sm_modbus_tcp_relay_test_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

SMACC2 test state machine for cl_px4_mr multirotor client

Maintainers

  • Brett Aldrich

Authors

No additional authors.
smacc2_sm_reference_library/sm_cl_px4_mr_test_1/README.md

State Machine Diagram

sm_cl_px4_mr_test_1

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates a complete autonomous flight mission: wait for readiness, arm, takeoff to 5m, fly to a waypoint, orbit 3 times, return to base, and land. Built on top of the

Uses two orthogonals:

  • OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
  • OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_1

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_1 sm_cl_px4_mr_test_1.launch.py

Mission Flow

State Mode State Behavior Action
StWaitForReady MsDisarmedOnGround CbTimerCountdownOnce(5) Wait 5 seconds for system readiness
StArmPx4 MsArmedOnGround CbArmPX4 Arm vehicle (5 retries, force-arm after 2)
StTakeoff MsTakeoff CbTakeOff(5.0) Enable offboard mode, climb to 5m
StGoToWaypoint1 MsInFlight CbGoToLocation(10, 0, -5) Fly to waypoint at (10, 0) NED
StOrbitLocation MsInFlight CbOrbitLocation(10, 0, 5, 5, 0.5, 3) Orbit 3x around waypoint, r=5m
StReturnToBase MsInFlight CbGoToLocation(0, 0, -5) Return to origin
StLand MsLanding CbLand Land and wait for auto-disarm
StLanded MsLanded (none) Mission complete

Log File Locations

Component Location
State Machine (ROS 2) ~/.ros/log/ (latest node log: sm_cl_px4_mr_test_1_node_*.log)
PX4 SITL (.ulg) ~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/
micro_ros_agent /tmp/xrce_agent.log (when launched with tee redirect above)

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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
smacc2
cl_px4_mr
cl_ros2_timer
px4_msgs
rclcpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_cl_px4_mr_test_1 at Robotics Stack Exchange