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sm_dance_bot_strikes_back package from SMACC2 repo

smacc2 keyboard_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client 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_24hr sm_atomic_hierarchy sm_atomic_services sm_autoware_avp sm_aws_warehouse_navigation sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_multi_ur5_sim sm_pack_ml sm_pubsub_1 sm_respira_1 sm_test_moveit_ur5_sim sm_three_some sr_all_events_go sr_conditional sr_event_countdown

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Package Summary

Tags No category tags.
Version 2.2.1
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 galactic
Last Updated 2022-12-30
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.
smacc2_sm_reference_library/sm_dance_bot_strikes_back/README.md

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".
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...

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

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 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

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Launch files

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Messages

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Services

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Plugins

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