Build Instructions

First, source your ros2 installation.

source /opt/ros/humble/setup.bash

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

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

Then build with colcon build…

colcon build

Operating Instructions

After you build, remember to source the proper workspace…

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

And then run the launch file…

ros2 launch sm_coretest_transition_speed_1 sm_coretest_transition_speed_1.launch

Viewer Instructions

If you have the SMACC2 Runtime Analyzer installed then type…

ros2 run smacc2_rta smacc2_rta

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

# Changelog for package sm_coretest_transition_speed_1

## 2.3.16 (2023-07-16) - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} - Addressed issue with ros buildfarm - Co-authored by: brettpac - Contributors: brettpac, pabloinigoblasco

## 2.3.6 (2023-03-12)

## 1.22.1 (2022-11-09) - Pre-release - Contributors: pabloinigoblasco

## 0.3.0 (2022-04-04)

## 0.0.0 (2022-11-09) - Reverted commit dec14a936a877b2ef722a6a32f1bf3df09312542 - Ignored packages not to be released - Updated SMACC/ROS mentions to SMACC2/ROS2 - Added smacc2_performance_tools - Improved performance tests - Cleaned up sm_respira_1 format - Updated smacc2_rta command across readmes - Renamed event generator library - Fixed various formatting issues - Added new feature cb_wait_topic_message - Added new client behavior for nav2 - Co-authored by: brettpac, Denis Štogl

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message` asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - New client behavior for `nav2`: `add` behavior waits for `nav2` nodes subscribing to the `/bond` topic and ensures they are alive. Optional node selection available. - Progress in AWS navigation demo. - Base for the `sm_aws_warehouse` navigation. - `cb_pause_slam` client behavior. - `sm_dance_bot_lite` visualizing `turtlebot3`. - `sm_multi_stage_1` doubling. - `sm_dance_bot_strikes_back` gazebo fixes. - AWS demo. - `neo_simulation2` package removal. - Source build enabled on PR for testing. - Build package adjustments for source CI. - Diverse improvements in navigation and performance. Changed ------- - Navigation parameters fixes on `sm_dance_bot`. - Minor hotfixes. - Cleaning and lidar show/hide option in `sm_dance_bot`. - Format fixes. Fixed ----- - Remove some compile warnings. Removed ------- - `neo_simulation2` package. Contributors ------------ - Co-authored by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>`

Section_3

Added

• Diverse improvements in navigation and performance.
• Additional linting and formatting.
• Progress in navigation, slam toggle client behaviors, and slam_toolbox components.
• Introducing slam pausing/resuming functionality in testing sm_dance_bot.
• First working version of sm template and template generator.
• Added SVGs to READMEs of atomic, dance_bot, and others.
• Rolling Docker environment to be executed from any environment.
• Initial migration to smacc2.
• Added QOS durability to SmaccPublisherClient.
• More testing on moveit behaviors.
• Husky launch file in sm_dance_bot.
• Waypoint Inputs.

Changed

• Move method after the method it calls to prevent recursion.
• Renamed reference library SMs to smacc2_performance_tools.
• Refactored to remove line and add reliability qos config.
• Reworked sm_multi_stage_1 with multistage modes, sequences, and steps.
• Updated dependencies for husky in rolling and galactic.

Fixed

• Minor tuning to mitigate overshot issue cases.
• Fixed launch command in README.md for sm_dance_bot_strikes_back.
• Fixed CI format for python version.
• Removed node creation and created only a logger.
• Fixed compiling issues.

Removed

• Removed merge markers from a python file.
• Removed parameters smacc.
• Removed sm_dance_bot_msgs.

Authors

• Pablo Iñigo Blasco
• Co-authored-by: pabloinigoblasco <<pablo@ibrobotics.com>>
• Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>
• Co-authored-by: DecDury <<declandury@gmail.com>>
• Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>
• Co-authored-by: Denis Štogl <<denis@stogl.de>>

`rst Section 4 ========= Added ----- - Implemented Brettpac branch (#184) with warehouse2 improvements. - Added SrConditional fixes and formatting (#168). - Introduced Feature/wharehouse2 dec 14 (#185) with minor changes. - Implemented Feature/sm warehouse 2 13 dec 2 (#186) with format adjustments. - Added finetuning waypoints (#187) with co-authorship. - Introduced Feature/cb pure spinning (#188) with format changes. - Implemented Feature/replanning 16 dec (#193) with several fixes. - Added Feature/undo motion 20 12 (#196) with improvements in navigation. - Introduced Feature/sync 21 12 (#199) with format fixes. - Implemented Feature/warehouse2 22 12 (#200) with format adjustments. - Added Feature/warehouse2 23 12 (#201) with tuning and fixes. - Introduced Feature/minor tune (#203) with tuning and fixes. - Added Foxy backport (#206) with minor formatting fixes. Changed ------- - Updated changelogs and reset all versions to 0.0.0. - Reverted commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61. - Updated description table and table. - Renamed "sm_three_some" to "sm_three_some.launch". - Renamed header files and corrected format. - Changed wording from "smacc application" to "SMACC2 library". - Reactivated smacc2 nav clients for rolling via submodules. - Renamed tracing events. - Fixed bug in smacc2 component. - Enabled Navigation2 for semi-binary build. Removed ------- - Deleted tracing directory and manual installation of ros-rolling-ros2trace. Collaborators ------------- - Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai> - Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>`

pabloinigoblasco

`rst Section_5 ========= Added ----- - Added smacc2_performance_tools. - Added galactic CI setup and renamed rolling files (#58). - Added new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success. - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. You can optionally select the nodes to wait. Changed ------- - Updated mentions of SMACC/ROS to SMACC2/ROS2. - Renamed folders, deleted tracing.md, and edited README.md. - Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69). - Updated smacc2_rta command across readmes. - Corrected trailing spaces. - Optimized dependencies in move_base_z_planners_common. - Renamed event generator library. - Updated c_cpp_properties.json. - Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69). - Updated doxygen links (#70). - Updated README.md. Fixed ----- - Fixed source CI and corrected README overview (#62). - Corrected all linters and formatters. Removed ------- - Removed galactic builds from master and kept only rolling. - Removed submodules and used .repos file. - Do not execute clang-format on smacc2_sm_reference_library package. Other ----- - Some progress on navigation rolling. - More changes on performance tests. - Minor formatting improvements. - Several core improvements during navigation testing. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. - Progress in AWS navigation demo. -`rst Section_6 =========

Added

• New client behavior [cb_wait_topic_message]{.title-ref} for asynchronous waiting and optional content check on a topic message.
• New client behavior for `nav2`: wait for nodes subscribing to [/bond]{.title-ref} topic to become active, with optional node selection.
• Base for [sm_aws_warehouse]{.title-ref} navigation.
• [cb_pause_slam]{.title-ref} client behavior.
• [sm_dance_bot_lite]{.title-ref} feature with precommit updates.
• Visualizing [turtlebot3]{.title-ref} in [sm_dance_bot]{.title-ref}.
• Lidar show/hide option in [sm_dance_bot]{.title-ref}.
• Gazebo fixes for robot and lidar visualization in various dance bot features.
• [sm_multi_stage_1]{.title-ref} doubling.
• [sm_dance_bot_strikes_back]{.title-ref} gazebo fixes.
• [sm_multi_stage_1]{.title-ref} improvements.
• [smacc2::deep_history]{.title-ref} syntax in [slam_toolbox]{.title-ref} components.

File truncated at 100 lines see the full file