State Machine Diagram

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
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Build Instructions

First, source your ros2 installation.

source /opt/ros/humble/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 ~/workspace/humble_ws/install/setup.sh

And then run the launch file…

ros2 launch sm_multi_stage_1 sm_multi_stage_1.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 for package sm_multi_stage_1

2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} - Brettpac branch (#518) - Attempted fix for ros buildfarm issue - Further work on buildfarm issue - Co-authored-by: brettpac <<brettpac@pop-os.localdomain>> - Contributors: brettpac, pabloinigoblasco

2.3.6 (2023-03-12)

1.22.1 (2022-11-09)

### Added - Pre-release - Contributors: pabloinigoblasco

### Changed - Feature/galactic rolling merge (#288) - Reverted "Ignore all packages except smacc2 and smacc2_msgs" - Updated description table - Updated table - Copied initial docs - Dockerfile with ROS distro as argument - Opened new folder for additional tracing contents - Deleted tracing directory - Moved tracing.md to tracing directory - Added setupTracing.sh for necessary package installation and tracing group configuration - Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh - Created alternative ManualTracing - Added new sm markdowns - Added Dockerfile for Rolling and Galactic - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Renamed tracing events - Bug fixes in smacc2 component - Updated mentions of SMACC/ROS to SMACC2/ROS2 - Progress on navigation rolling - Added smacc2_performance_tools - Performance tests improvements - Format cleanup for sm_respira_1 - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - Minor formatting changes - Added galactic CI setup and renamed rolling files (#58) - Fixed source CI and corrected README overview (#62) - Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) - Updated doxygen links (#70) - More Readme Updates (#72) - More Readme (#74) - Created new sm from sm_respira_1 (#76) - Feature/core and navigation fixes (#78) - Several core improvements during navigation testing - Progress in aws navigation demo - Feature/aws demo progress (#80) - Format improvements - Feature/aws demo progress (#80) - sm_advanced_recovery_1 reworked (#83) - More sm_advanced_recovery_1 work (#85) - sm_advanced_recovery_1 round 4 (#86) - sm_atomic_performance_test_a_2 - sm_atomic_performance_test_a_1 - sm_atomic_performance_test_c_1 (#88) - Modifying sm_atomic_performance_test_a_2 (#89) - sm_multi_stage_1 - Update README.md - Wait topic message client behavior (#81)

`rst Section_2 ========= Added ----- - New feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents for success. - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic and waiting for them to be alive. You can optionally select the nodes to wait. - Navigation parameters fixes on sm_dance_bot. - CB pause slam client behavior. - Sm_dance_bot_lite. - Sm_dance_bot visualizing turtlebot3. - Dance bot launch gz lidar choice. - Gazebo fixes to show the robot and the lidar. - Sm_multi_stage_1 doubling. - Sm dance bot strikes back gazebo fixes. Changed ------- - Several core improvements during navigation testing. Fixed ----- - Corrected all linters and formatters. - Removed some compile warnings. Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai> Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: Denis Štogl <denis@stogl.de>`

`rst Section_3 ========= Added ----- - Added AWS demo (#108, #109) - Added Brettpac branch (#110, #111) - Added a3 (#113) - Added diverse improvements in navigation and performance (#116) - Added feature to toggle SLAM and deep history in SMACC (#122) - Added SM Atomic SM generator (#143) - Added rolling Docker environment execution (#154) - Added initial state machine transition timestamp (#165) - Added QOS durability to SmaccPublisherClient (#163) - Added testing for MoveIt behaviors (#167) - Added sm_pubsub_1 (#169, #170) Changed ------- - Improved gazebo visualization for robot and lidar - Improved formatting - Improved functionality for sm_multi_stage_1 (#109, #114) - Improved navigation and performance - Refactored SM dance bot strikes back (#152) - Updated package list (#142) - Renamed navigation 2 stack - Updated READMEs with SVGs - Updated launch command in README.md - Updated format for CI compatibility - Updated Dockerfile for building local tests - Updated readme (#164) - Moved reference library SMs to smacc2_performance_tools - Added QOS durability to SmaccPublisherClient Fixed ----- - Fixed recursion issue in method call order (#126) - Fixed overshot issue in waypoints navigator (#133) - Fixed format for CI Python version (#148) - Fixed node creation in logger (#149) - Fixed launch command in README.md - Fixed linting warnings - Fixed errors in moveit migration - Fixed compiling issues - Fixed broken master build`

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added repo dependency. - Added husky launch file in sm_dance_bot. - Added dependencies for husky simulation. - Fixed formatting. - Updated dependencies for husky in rolling and galactic. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Fixed broken build. - Feature/wharehouse2 dec 14 (#185) - Added warehouse2. - Made minor changes. - Feature/sm warehouse 2 13 dec 2 (#186) - Added format changes. - Added more changes and headless. - Merged changes. - Added headless and other fixes. - Added default values. - Made minor changes. Changed ------- - sm_advanced_recovery_1 renaming (#171) - Renamed sm_advanced_recovery_1. - SrConditional fixes and formatting (#168) - Fixed formatting and templating on SrConditional. - Moved trigger logic into headers. - Linted code. - Feature/undo motion 20 12 (#196) - Made minor changes. - Improved undo motion navigation in warehouse2. - Feature/sync 21 12 (#199) - Made minor changes. - Fixed format issues. - Feature/warehouse2 22 12 (#200) - Made minor changes. - Replanned for all examples. - Fixed format issues. - Finished warehouse2. - Feature/warehouse2 23 12 (#201) - Made minor changes. - Replanned for all examples. - Tuned and fixed issues. - Feature/minor tune (#203) - Tuned and fixed issues. - Made minor adjustments. - Feature/planner changes 16 12 (#191) - Made minor changes. - Added more fixes. - Feature/replanning 16 dec (#193) - Made minor changes. - Replanned for all examples. - Feature/cb pure spinning (#188), Feature/cb pure spinning (#189) - Made minor changes. - Added pure spinning behavior files. - Made minor adjustments. - Feature/undo motion 20 12 (#198) - Made minor changes. - Replanned for all examples. - Improved undo motion navigation in warehouse2. - Made minor adjustments. - Feature/sync 21 12 (#199) - Made minor changes. - Replanned for all examples. - Fixed format issues. - Feature/warehouse2 22 12 (#200) - Made minor changes. - Replanned for all examples. - Fixed format issues. - Finished warehouse2. - Feature/warehouse2 23 12 (#201) - Made minor changes. - Replanned for all examples. - Tuned and fixed issues. Fixed ----- - Several fixes (#194) - Made minor changes. - Tuning warehouse3 (#197) - Tuned warehouse3. - Fixing warehouse 3 problems, and other core improvements (#204) - Fixed warehouse 3 problems. - Made core improvements to remove deadlocks and ensure continuous integration is green. - Fixed weird moveit not downloaded repo. - Added missing file from warehouse2 (#205). Removed ------- - Removed trailing spaces. - Removed unnecessary packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. - Removed trailing spaces. - Removed further packages. - Removed disabled packages. - Removed further packages. - Removed disabled cpplint and cppcheck linters. Authors ------- - Pablo Iñigo Blasco - Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai> - Co-authored-by: Denis Štogl <denis@stogl.de> - Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>`

`rst Section 5 ========= Added ----- - Opened new folder for additional tracing contents. - Moved tracing.md to tracing directory. - Added setupTracing.sh to install necessary packages and configure tracing group. - Created alternative ManualTracing. - Added new sm markdowns. - Added a dockerfile for Rolling and Galactic. - Enable build of missing rolling repositories. - Enable Navigation2 for semi-binary build. - Added README tutorial for Dockerfile. - Added smacc2_performance_tools. - Performance tests improvements. - More changes on performance tests. - Optimized dependencies in move_base_z_planners_common. - Renamed event generator library. - Added galactic CI setup and renamed rolling files (#58). - Fixed source CI and corrected README overview (#62). - Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69). - Updated doxygen links (#70). - More Readme Updates (#72). - More Readme (#74). - Created new sm from sm_respira_1 (#76). - Feature/core and navigation fixes (#78). - Feature/aws demo progress (#80). - Feature/wait nav2 nodes client behavior (#82). - New feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success. Changed ------- - Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh. - Changed wording "smacc application" to "SMACC2 library". - Updated mentions of SMACC/ROS to SMACC2/ROS2. Fixed ----- - Bug in smacc2 component. - Do not execute clang-format on smacc2_sm_reference_library package. - Correct trailing spaces. - Clean up of sm_atomic_24hr. - Clean up of sm_advanced_recovery_1. - Minor formatting improvements. Removed ------- - Removed galactic builds from master and kept only rolling. Removed submodules and use .repos file. Authors ------- - Pablo Iñigo Blasco - Denis Štogl <destogl@users.noreply.github.com> - Ubuntu 20-04-02-amd64 <brett@robosoft.ai>`

`rst Section_6 ========= Added ----- - New client behavior for nav2: Now waits for nav2 nodes to subscribe to the /bond topic and confirms they are active. Users can select specific nodes to wait for. - New feature: `cb_wait_topic_message`: Asynchronous client behavior that waits for a topic message and optionally verifies its contents for success. - Navigation parameters fixes on `sm_dance_bot`. - `cb_pause_slam` client behavior. - `sm_dance_bot_lite`: - Visualizing turtlebot3. - Precommit updates. - `sm_multi_stage_1` doubling. - Gazebo fixes for `sm_dance_bot_strikes_back`. Changed ------- - Corrected all linters and formatters. - Several core improvements during navigation testing. - Formatting enhancements. Fixed ----- - Removed some compile warnings. Removed ------- - Minor hotfix. Contributors ------------ - Co-authored-by: Denis Štogl <denis@stogl.de> - Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> - Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>`

## Section_7

### Added - Added source build on PR for testing. - Added progress in navigation, slam toggle client behaviors, and slam_toolbox components. - Added smacc2::deep_history syntax. - Added slam pausing/resuming functionality to sm_dance_bot. - Added first working version of sm template and template generator. - Added SM core test. - Added SVGs to READMEs of atomic, dance_bot, and others. - Added remaining SVGs to READMEs. - Added SM Atomic SM generator. - Added QOS durability to SmaccPublisherClient. - Added reliability qos config. - Added repo dependency for AWS navigation sm dance bot. - Added husky launch file in sm_dance_bot. - Added dependencies for husky simulation.

### Changed - Changed method order to prevent recursion in sm_dance_bot. - Changed "Finnaly" to "Finally" for correct spelling. - Changed launch command in README.md for sm_dance_bot_strikes_back. - Changed format for CI to fix python version. - Changed node creation to create only a logger. - Changed Docker environment to be executed from any environment. - Changed state machine transition timestamp to initial state machine transition timestamp. - Changed reference library SMs to smacc2_performance_tools.

### Fixed - Fixed minor format issues. - Fixed overshot issue cases in waypoints navigator. - Fixed launch command in README.md. - Fixed compiling issues. - Fixed broken master build. - Fixed pipeline error.

### Removed - Removed neo_simulation2 package. - Removed merge markers from a python file. - Removed parameters smacc. - Removed sm_dance_bot_msgs. - Removed test from main moveit cmake.

### Miscellaneous - Minor tweaks. - Minor navigation improvements. - Minor format adjustments. - Minor linting and formatting. - Minor tuning to mitigate overshot issue cases. - Minor configuration adjustments. - Precommit cleanup. - Workflow updates. - Pending references. - Noticed typo correction. - Noticed launch command correction. - Noticed dependency addition. - Noticed dependency to ur5 client addition. - Noticed line removal. - Noticed README updates. - Noticed repos dependency addition. - Noticed Dockerfile improvements for building local tests. - Noticed Docker refactoring. - Noticed progress on move_it PR. - Noticed progress in the moveit migration testing. - Noticed progress on moveit behaviors testing. - Noticed progress on markers cleanup. - Noticed progress in the sm_dance_bot tests. - Noticed

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