ROS Index
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.22.1 |
| 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 | rolling |
| Last Updated | 2022-11-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pablo Inigo Blasco
Authors
State Machine Diagram
! New Image required
Description
A full-featured state machine example, that highlights the capabilities of SMACC2, ROS2 & Nav2 via the Nav2z Client. In the original sm_dance_bot_strikes_back state machine, the variables that controlled the movements of the robot were entirely static, but in this example we made them dynamic, in that the robot uses a lidar sensor to find the range of the wall in front of it, then moves forward that value minus some margin. This also shows the “Orthogonal Read-Write Cycle” where we are reading data from one orthogonal (in this case the lidar client, “cl_lidar” is inside the obstacle perception orthogonal “or_obstacle_perception” and writes via the client “cl_nav2z” in the navigation orthogonal “or_navigation”.
</br>
Doxygen Namespace & Class Reference
! Updated video url required
To see a video of this state machine in action click here.
</br>
Build Instructions
First, source your chosen ros2 distro.
source /opt/ros/rolling/setup.bash
source /opt/ros/galactic/setup.bash
Before you build, make sure you’ve installed all the dependencies…
rosdep install --ignore-src --from-paths src -y -r
Then build with colcon build…
colcon build
Operating Instructions
After you build, remember to source the proper install folder…
source ~/colcon_ws/install/setup.bash
And then run the launch file…
ros2 launch sm_dance_bot_strikes_back sm_dance_bot_strikes_back_launch.py
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_dance_bot_strikes_back \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
Forthcoming
- Initial SMACC version
- Contributors: Pablo Iñigo Blasco, brett2@reelrobotics.com, reelrbtx
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| gazebo |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_dance_bot_strikes_back at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.22.1 |
| 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 | rolling |
| Last Updated | 2022-11-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pablo Inigo Blasco
Authors
State Machine Diagram
! New Image required
Description
A full-featured state machine example, that highlights the capabilities of SMACC2, ROS2 & Nav2 via the Nav2z Client. In the original sm_dance_bot_strikes_back state machine, the variables that controlled the movements of the robot were entirely static, but in this example we made them dynamic, in that the robot uses a lidar sensor to find the range of the wall in front of it, then moves forward that value minus some margin. This also shows the “Orthogonal Read-Write Cycle” where we are reading data from one orthogonal (in this case the lidar client, “cl_lidar” is inside the obstacle perception orthogonal “or_obstacle_perception” and writes via the client “cl_nav2z” in the navigation orthogonal “or_navigation”.
</br>
Doxygen Namespace & Class Reference
! Updated video url required
To see a video of this state machine in action click here.
</br>
Build Instructions
First, source your chosen ros2 distro.
source /opt/ros/rolling/setup.bash
source /opt/ros/galactic/setup.bash
Before you build, make sure you’ve installed all the dependencies…
rosdep install --ignore-src --from-paths src -y -r
Then build with colcon build…
colcon build
Operating Instructions
After you build, remember to source the proper install folder…
source ~/colcon_ws/install/setup.bash
And then run the launch file…
ros2 launch sm_dance_bot_strikes_back sm_dance_bot_strikes_back_launch.py
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_dance_bot_strikes_back \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
Forthcoming
- Initial SMACC version
- Contributors: Pablo Iñigo Blasco, brett2@reelrobotics.com, reelrbtx
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| gazebo |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_dance_bot_strikes_back at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.4.16 |
| License | BSD-3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/robosoft-ai/smacc.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2023-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pablo Inigo Blasco
Authors
State Machine Diagram
Description
A full-featured state machine example, that highlights the capabilities of SMACC & the ROS Navigation Stack via the MoveBaseZ Client. In the original sm_dance_bot state machine, the variables that controlled the movements of the robot were entirely static, but in this example we made them dynamic, in that the robot uses a lidar sensor to find the range of the wall in front of it, then moves forward that value minus some margin. This also shows the “Orthogonal Read-Write Cycle” where we are reading data from one orthogonal (in this case the lidar client, “cl_lidar” is inside the obstacle perception orthogonal “or_obstacle_perception” and writes via the client “cl_move_base_z” in the navigation orthogonal “or_navigation”.
</br>
Doxygen Namespace & Class Reference
To see a video of this state machine in action click here.
</br>
</br>
Build Instructions
Before you build, make sure you’ve installed all the dependencies…
rosdep install --from-paths src --ignore-src -r -y
Then you build with either catkin build or catkin make…
catkin build
Operating Instructions
After you build, remember to source the proper devel folder…
source ~/catkin_ws/devel/setup.bash
And then run the launch file for the full gazebo demo…
roslaunch sm_dance_bot_strikes_back sm_dance_bot_strikes_back.launch
Or, you can run the lightweight demo…
roslaunch sm_dance_bot_strikes_back sm_dance_bot_strikes_back.launch sm_xterm:=nice server_nodes_xterms:=nice show_gz_client:=false show_smacc_viewer:=false
This launch command starts the process by hiding the xterminals for all the servers, the state machine, the smacc_viewer and the gazebo client.
Viewer Instructions
If you have the SMACC Viewer installed then type…
rosrun smacc_viewer smacc_viewer_node.py
If you don’t have the SMACC Viewer installed, click here for instructions.
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package sm_dance_bot_strikes_back \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
Forthcoming
- Initial SMACC version
- Contributors: Pablo Iñigo Blasco, brett2@robosoft-ai.com, robosoft-ai
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| xterm |
Dependant Packages
Launch files
- launch/sm_dance_bot_strikes_back.launch
-
- server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -sl 10000 -hold -e]
- sm_xterm [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -geometry 1000x600 -sl 10000 -e]
- show_gz_client [default: true]
- show_smacc_viewer [default: true]
- show_rviz [default: true]
- debug [default: false]
- launch/ridgeback_simulation.launch
-
- show_gz_client [default: true]
Messages
Services
Plugins
Recent questions tagged sm_dance_bot_strikes_back at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.4 |
| 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 | galactic |
| Last Updated | 2023-06-09 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pablo Inigo Blasco
Authors
State Machine Diagram
! New Image required
Description
A full-featured state machine example, that highlights the capabilities of SMACC2, ROS2 & Nav2 via the Nav2z Client. In the original sm_dance_bot_strikes_back state machine, the variables that controlled the movements of the robot were entirely static, but in this example we made them dynamic, in that the robot uses a lidar sensor to find the range of the wall in front of it, then moves forward that value minus some margin. This also shows the “Orthogonal Read-Write Cycle” where we are reading data from one orthogonal (in this case the lidar client, “cl_lidar” is inside the obstacle perception orthogonal “or_obstacle_perception” and writes via the client “cl_nav2z” in the navigation orthogonal “or_navigation”.
</br>
Doxygen Namespace & Class Reference
! Updated video url required
To see a video of this state machine in action click here.
</br>
Build Instructions
First, source your chosen ros2 distro.
source /opt/ros/rolling/setup.bash
source /opt/ros/galactic/setup.bash
Before you build, make sure you’ve installed all the dependencies…
rosdep install --ignore-src --from-paths src -y -r
Then build with colcon build…
colcon build
Operating Instructions
After you build, remember to source the proper install folder…
source ~/colcon_ws/install/setup.bash
And then run the launch file…
ros2 launch sm_dance_bot_strikes_back sm_dance_bot_strikes_back_launch.py
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_dance_bot_strikes_back \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
Forthcoming
- Initial SMACC version
- Contributors: Pablo Iñigo Blasco, brett2@reelrobotics.com, reelrbtx
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| gazebo |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_dance_bot_strikes_back at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.22.1 |
| 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 | rolling |
| Last Updated | 2022-11-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pablo Inigo Blasco
Authors
State Machine Diagram
! New Image required
Description
A full-featured state machine example, that highlights the capabilities of SMACC2, ROS2 & Nav2 via the Nav2z Client. In the original sm_dance_bot_strikes_back state machine, the variables that controlled the movements of the robot were entirely static, but in this example we made them dynamic, in that the robot uses a lidar sensor to find the range of the wall in front of it, then moves forward that value minus some margin. This also shows the “Orthogonal Read-Write Cycle” where we are reading data from one orthogonal (in this case the lidar client, “cl_lidar” is inside the obstacle perception orthogonal “or_obstacle_perception” and writes via the client “cl_nav2z” in the navigation orthogonal “or_navigation”.
</br>
Doxygen Namespace & Class Reference
! Updated video url required
To see a video of this state machine in action click here.
</br>
Build Instructions
First, source your chosen ros2 distro.
source /opt/ros/rolling/setup.bash
source /opt/ros/galactic/setup.bash
Before you build, make sure you’ve installed all the dependencies…
rosdep install --ignore-src --from-paths src -y -r
Then build with colcon build…
colcon build
Operating Instructions
After you build, remember to source the proper install folder…
source ~/colcon_ws/install/setup.bash
And then run the launch file…
ros2 launch sm_dance_bot_strikes_back sm_dance_bot_strikes_back_launch.py
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_dance_bot_strikes_back \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
Forthcoming
- Initial SMACC version
- Contributors: Pablo Iñigo Blasco, brett2@reelrobotics.com, reelrbtx
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| gazebo |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_dance_bot_strikes_back at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.3.5 |
| License | BSD-3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/robosoft-ai/smacc.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2023-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Pablo Inigo Blasco
Authors
State Machine Diagram
Description
A full-featured state machine example, that highlights the capabilities of SMACC & the ROS Navigation Stack via the MoveBaseZ Client. In the original sm_dance_bot state machine, the variables that controlled the movements of the robot were entirely static, but in this example we made them dynamic, in that the robot uses a lidar sensor to find the range of the wall in front of it, then moves forward that value minus some margin. This also shows the “Orthogonal Read-Write Cycle” where we are reading data from one orthogonal (in this case the lidar client, “cl_lidar” is inside the obstacle perception orthogonal “or_obstacle_perception” and writes via the client “cl_move_base_z” in the navigation orthogonal “or_navigation”.
</br>
Doxygen Namespace & Class Reference
To see a video of this state machine in action click here.
</br>
</br>
Build Instructions
Before you build, make sure you’ve installed all the dependencies…
rosdep install --from-paths src --ignore-src -r -y
Then you build with either catkin build or catkin make…
catkin build
Operating Instructions
After you build, remember to source the proper devel folder…
source ~/catkin_ws/devel/setup.bash
And then run the launch file for the full gazebo demo…
roslaunch sm_dance_bot_strikes_back sm_dance_bot_strikes_back.launch
Or, you can run the lightweight demo…
roslaunch sm_dance_bot_strikes_back sm_dance_bot_strikes_back.launch sm_xterm:=nice server_nodes_xterms:=nice show_gz_client:=false show_smacc_viewer:=false
This launch command starts the process by hiding the xterminals for all the servers, the state machine, the smacc_viewer and the gazebo client.
Viewer Instructions
If you have the SMACC Viewer installed then type…
rosrun smacc_viewer smacc_viewer_node.py
If you don’t have the SMACC Viewer installed, click here for instructions.
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package sm_dance_bot_strikes_back \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
1.3.2 (2022-11-18)
- Initial SMACC version
- Contributors: Pablo Iñigo Blasco, brett2@reelrobotics.com, reelrbtx
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| xterm |
Dependant Packages
Launch files
- launch/sm_dance_bot_strikes_back.launch
-
- server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -sl 10000 -hold -e]
- sm_xterm [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -geometry 1000x600 -sl 10000 -e]
- show_gz_client [default: true]
- show_smacc_viewer [default: true]
- show_rviz [default: true]
- debug [default: false]
- launch/ridgeback_simulation.launch
-
- show_gz_client [default: true]