Package Summary

Tags No category tags.
Version 1.4.2
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 2022-11-24
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

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".
Doxygen Namespace & Class Reference To see a video of this state machine in action click here.


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

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

  • 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

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 1.3.3
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 2022-11-24
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

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".
Doxygen Namespace & Class Reference To see a video of this state machine in action click here.


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

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

1.3.2 (2022-11-18)

  • Initial SMACC version
  • Contributors: Pablo I

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

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 0.0.1
License TODO
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/smacc.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2022-10-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
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

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".
Doxygen Namespace & Class Reference To see a video of this state machine in action click here.

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

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

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