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 | 2021-09-24 |
| 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
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_move_base_z" 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_node
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.
Package Dependencies
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_dance_bot_strikes_back at answers.ros.org
No version for distro foxy. Known supported distros are highlighted in the buttons above.
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 | 2021-09-24 |
| 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
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_move_base_z" 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_node
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.
Package Dependencies
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_dance_bot_strikes_back at answers.ros.org
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.