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)

0.1.0 (2022-01-01)

### Added - Feature/diverse improvements navigation performance (#117) - Additional linting and formatting - Feature/slam toggle and smacc deep history (#122) - Progress in navigation, slam toggle client behaviors, and slam_toolbox components - Introducing slam pausing/resuming functionality for testing sm_dance_bot - Feature/dance bot s pattern (#128) - Polishing sm_dance_bot and s-pattern - First working version of sm template and template generator (#127) - Feature/sm dance bot refine (#131) - Feature/sm dance bot refine 2 (#132) - Build fix - Feature/nav2z renaming (#144) - Navigation 2 stack renaming - Add SM Atomic SM generator (#143) - Rolling Docker environment to be executed from any environment (#154) - Feature/sm dance bot strikes back refactoring (#152) - Feature/migration moveit client (#151) - Initial migration to smacc2 - Progressing in the moveit migration testing - Initial state machine transition timestamp (#165) - Add QOS durability to SmaccPublisherClient (#163) - Feature/testing moveit behaviors (#167) - Sm_pubsub_1 (#169) - Sm_pubsub_1 part 2 (#170) - Sm_advanced_recovery_1 renaming (#171) - Sm_multi_stage_1 reworking (#172) - Multistage modes, sequences, steps, and finishing touches - Feature/aws navigation sm dance bot (#174) - Progress on aws navigation and refactorings on navigation clients and behaviors

### Changed - Move method after the method it calls to prevent recursion (#126) - Resolve compile warnings (#137) - Minor navigation improvements (#141) - Using local action messages (#139) - Removing parameters smacc (#147) - Update package list (#142) - Remove node creation and create only a logger (#149) - Warehouse2 progress (#179)

### Fixed - Minor tuning to mitigate overshot issue cases (#133) - Fix CI: format fix python version (#148) - Fixing broken master build (#167) - Fixing broken build (#174)

### Removed - Remove merge markers from a python file (#119) - Removing sm_dance_bot_msgs (#144) - Removing test from main moveit cmake (#151) - Removing parameters smacc (#147)

### Miscellaneous - Added SVGs to READMEs of atomic, dance_bot, and others (#140) - Added remaining SVGs to READMEs (#145) - Update README (#164) - More readme updates (#164) - Noticed launch command was incorrect in README.md, fixed launch command for sm_dance_bot_strikes_back, and removed some comments (#147) - Precommit cleanup - Workflows update - Pending references - Repos dependency - Docker refactoring - Minor format issues (#134) - Minor tweaks (#130) - Minor (#124) - Minor - Noticed typo - Finnaly > Finally

Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>> Co-authored-by: pabloinigoblasco <<pablo@ibrobotics.com>> Co-authored-by: DecDury <<declandury@gmail.com>> Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> Co-authored-by: Denis Štogl <<denis@stogl.de>>