Package Summary

Tags No category tags.
Version 0.0.0
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 master
Last Updated 2021-10-19
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

The dance_bot_strikes_back package

Additional Links

No additional links.

Maintainers

  • Pablo Inigo Blasco

Authors

No additional 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 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".
Doxygen Namespace & Class Reference

! Updated video url required To see a video of this state machine in action click here.

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...

! gazebo demo vs lightweight demo for ros2?

! .launch vs .launch.py

ros2 launch sm_dance_bot_strikes_back sm_dance_bot_strikes_back.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

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package sm_dance_bot_strikes_back ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Forthcoming

  • Initial SMACC version
  • Contributors: Pablo I

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_dance_bot_strikes_back at answers.ros.org

Package Summary

Tags No category tags.
Version 0.0.0
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 master
Last Updated 2021-10-19
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

The dance_bot_strikes_back package

Additional Links

No additional links.

Maintainers

  • Pablo Inigo Blasco

Authors

No additional 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 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".
Doxygen Namespace & Class Reference

! Updated video url required To see a video of this state machine in action click here.

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...

! gazebo demo vs lightweight demo for ros2?

! .launch vs .launch.py

ros2 launch sm_dance_bot_strikes_back sm_dance_bot_strikes_back.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

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package sm_dance_bot_strikes_back ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Forthcoming

  • Initial SMACC version
  • Contributors: Pablo I

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_dance_bot_strikes_back at answers.ros.org