sm_cl_px4_mr_test_2 - ROS Package Overview

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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_2` at Robotics Stack Exchange

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

sm_cl_px4_mr_test_2 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_px4_mr_test_2 sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_4 sm_cl_ros2_timer_unit_test_1 sm_data_sharing_1 sm_data_sharing_2 sm_modbus_tcp_relay_test_1 sm_mode_state_behavior_1 sm_multi_stage_1 sm_multithread_test_1 sm_nav2_gazebo_test_1 sm_nav2_gazebo_test_2 sm_nav2_gazebo_test_3 sm_pack_ml sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory_isaacsim sm_retry_logic_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

smacc2_sm_reference_library/sm_cl_px4_mr_test_2/README.md

Package Summary

Version	3.1.0
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	2026-09-24
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 new behaviors (hold, yaw, altitude, waypoints, figure-8, barrel roll, return-to-home)

Maintainers

Brett Aldrich

Authors

No additional authors.

State Machine Diagram

sm_cl_px4_mr_test_2

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Exercises the second batch of behaviors added to the client: hold position, relative yaw rotation, altitude change, multi-waypoint following, an expanding spiral, a figure-eight, and return-to-home, with a 3 s CbHoldPosition settle between each manoeuvre. The mission runs at 15-20 m and stays within 30 m of the takeoff point. StConnectMicroROSAgent waits for the micro-ROS agent’s node and a healthy PX4 estimate before proceeding, so the agent must be started first.

Uses two orthogonals:

OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
OrTimer - cl_ros2_timer::ClRos2Timer for the readiness wait

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_2

Operating Instructions

Requires four processes, started in this order.

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - QGroundControl (required for GCS heartbeat so PX4 allows arming)

./QGroundControl-x86_64.AppImage

Terminal 3 - micro-ROS agent (XRCE-DDS bridge to PX4):

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

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_2 sm_cl_px4_mr_test_2.launch.py

Mission Flow

State	Mode State	Behavior	Action
StConnectMicroROSAgent	MsDisarmedOnGround	CbConnectMicroRosAgent(30)	Wait for the XRCE agent node and a healthy PX4 estimate
StWaitForReady	MsDisarmedOnGround	CbTimerCountdownOnce(5 s)	Let PX4 topics settle
StArmPx4	MsArmedOnGround	CbArmPX4	Arm (5 retries, force-arm after 2)
StTakeoff	MsTakeoff	CbTakeOff(15)	Offboard takeoff to 15 m
StHoldPosition	MsInFlight	CbHoldPosition(3 s)	Settle
StYawRotate	MsInFlight	CbYawRotate(+90 deg, relative)	Rotate a quarter turn
StHoldPosition2	MsInFlight	CbHoldPosition(3 s)	Settle
StChangeAltitude	MsInFlight	CbChangeAltitude(20)	Climb to 20 m
StHoldPosition3	MsInFlight	CbHoldPosition(3 s)	Settle
StSpiralPattern	MsInFlight	CbSpiralPattern(0, 0, 20, r 15, spacing 3, 2 m/s)	Expanding spiral about the origin
StHoldPosition4	MsInFlight	CbHoldPosition(3 s)	Settle
StFollowWaypoints	MsInFlight	CbFollowWaypoints	(30,0) -> (30,-30) -> (0,-30) at 20 m
StHoldPosition5	MsInFlight	CbHoldPosition(3 s)	Settle
StFigureEight	MsInFlight	CbFigureEight(5, 5, 20, size 5, 0.5 rad/s, 3 loops)	Three figure-eights
StHoldPosition6	MsInFlight	CbHoldPosition(3 s)	Settle
StReturnToHome	MsInFlight	CbReturnToHome(0, 0, -15, 0)	Back to the origin at 15 m
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_2_node_*.log`)
PX4 SITL (.ulg)	`~/workspaces/PX4-Autopilot/build/px4_sitl_default/rootfs/log/`
micro_ros_agent	`/tmp/xrce_agent.log`

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.

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