Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.22.1
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 rolling
Last Updated 2022-11-28
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

Doxygen Namespace & Class Reference

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_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

Changelog for package sm_multi_stage_1

1.22.1 (2022-11-09)

  • pre-release

  • Contributors: pabloinigoblasco

  • Feature/galactic rolling merge (#288)

    • 0.1.0

    * Revert "Ignore all packages except smacc2 and smacc2_msgs" This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61.

    • Update description table.
    • Update table
    • Copy initial docs

    * Dockerfile w/ ROS distro as argument use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/"

    • Opened new folder for additional tracing contents
    • Delete tracing directory
    • Moved tracing.md to tracing directory

    * added setupTracing.sh Installs necessary packages and configures tracing group.

    * Removed manual installation of ros-rolling-ros2trace This is now automated in setupTracing.sh location of sh file assumed if user follows README.md under "Getting started"

    • Created alternative ManualTracing
    • added new sm markdowns
    • added a dockerfile for Rolling and Galactic

    * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update tracing/ManualTracing.md Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * changed wording "smacc application" to "SMACC2 library" Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update smacc_sm_reference_library/sm_atomic/README.md edit from html to markdown syntax Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    • reactivating smacc2 nav clients for rolling via submodules
    • renamed tracing events after
    • bug in smacc2 component
    • reverted markdowns to html
    • added README tutorial for Dockerfile
    • additional cleanup
    • cleanup
    • cleanup
    • edited tracing.md to reflect new tracing event names
    • Enable build of missing rolling repositories.
    • Enable Navigation2 for semi-binary build.
    • Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file
    • updated mentions of SMACC/ROS to SMACC2/ROS2
    • some progress on navigation rolling
    • renamed folders, deleted tracing.md, edited README.md
    • added smacc2_performance_tools
    • performance tests improvements
    • more on performance and other issues
    • sm_respira_1 format cleanup
    • sm_respira_1 format cleanup pre-commit
    • sm_respira_test_2
    • sm_respira_test_2
    • more changes on performance tests
    • Do not execute clang-format on smacc2_sm_reference_library package.
    • sm_reference_library reformatting
    • Correct trailing spaces.
    • sm_atomic_24hr
    • sm_atomic_performance_trace_1
    • Update smacc2_rta command across readmes
    • Clean up of sm_atomic_24hr
    • more sm_atomic_24hr cleanup
    • Optimized deps in move_base_z_planners_common.
    • Renaming of event generator library
    • minor formatting
    • Add galactic CI setup and rename rolling files. (#58)
    • Fix source CI and correct README overview. (#62)
    • Update c_cpp_properties.json

    * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) also noticed a note I had made while producing these that was not removed

    * update doxygen links (#70) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

    * More Readme Updates (#72) Co-authored-by: Ubuntu 20-04-02-amd64

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.22.1
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 rolling
Last Updated 2022-11-28
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

Doxygen Namespace & Class Reference

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_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

Changelog for package sm_multi_stage_1

1.22.1 (2022-11-09)

  • pre-release

  • Contributors: pabloinigoblasco

  • Feature/galactic rolling merge (#288)

    • 0.1.0

    * Revert "Ignore all packages except smacc2 and smacc2_msgs" This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61.

    • Update description table.
    • Update table
    • Copy initial docs

    * Dockerfile w/ ROS distro as argument use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/"

    • Opened new folder for additional tracing contents
    • Delete tracing directory
    • Moved tracing.md to tracing directory

    * added setupTracing.sh Installs necessary packages and configures tracing group.

    * Removed manual installation of ros-rolling-ros2trace This is now automated in setupTracing.sh location of sh file assumed if user follows README.md under "Getting started"

    • Created alternative ManualTracing
    • added new sm markdowns
    • added a dockerfile for Rolling and Galactic

    * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update tracing/ManualTracing.md Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * changed wording "smacc application" to "SMACC2 library" Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update smacc_sm_reference_library/sm_atomic/README.md edit from html to markdown syntax Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    • reactivating smacc2 nav clients for rolling via submodules
    • renamed tracing events after
    • bug in smacc2 component
    • reverted markdowns to html
    • added README tutorial for Dockerfile
    • additional cleanup
    • cleanup
    • cleanup
    • edited tracing.md to reflect new tracing event names
    • Enable build of missing rolling repositories.
    • Enable Navigation2 for semi-binary build.
    • Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file
    • updated mentions of SMACC/ROS to SMACC2/ROS2
    • some progress on navigation rolling
    • renamed folders, deleted tracing.md, edited README.md
    • added smacc2_performance_tools
    • performance tests improvements
    • more on performance and other issues
    • sm_respira_1 format cleanup
    • sm_respira_1 format cleanup pre-commit
    • sm_respira_test_2
    • sm_respira_test_2
    • more changes on performance tests
    • Do not execute clang-format on smacc2_sm_reference_library package.
    • sm_reference_library reformatting
    • Correct trailing spaces.
    • sm_atomic_24hr
    • sm_atomic_performance_trace_1
    • Update smacc2_rta command across readmes
    • Clean up of sm_atomic_24hr
    • more sm_atomic_24hr cleanup
    • Optimized deps in move_base_z_planners_common.
    • Renaming of event generator library
    • minor formatting
    • Add galactic CI setup and rename rolling files. (#58)
    • Fix source CI and correct README overview. (#62)
    • Update c_cpp_properties.json

    * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) also noticed a note I had made while producing these that was not removed

    * update doxygen links (#70) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

    * More Readme Updates (#72) Co-authored-by: Ubuntu 20-04-02-amd64

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.22.1
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 rolling
Last Updated 2022-11-28
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

Doxygen Namespace & Class Reference

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_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

Changelog for package sm_multi_stage_1

1.22.1 (2022-11-09)

  • pre-release

  • Contributors: pabloinigoblasco

  • Feature/galactic rolling merge (#288)

    • 0.1.0

    * Revert "Ignore all packages except smacc2 and smacc2_msgs" This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61.

    • Update description table.
    • Update table
    • Copy initial docs

    * Dockerfile w/ ROS distro as argument use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/"

    • Opened new folder for additional tracing contents
    • Delete tracing directory
    • Moved tracing.md to tracing directory

    * added setupTracing.sh Installs necessary packages and configures tracing group.

    * Removed manual installation of ros-rolling-ros2trace This is now automated in setupTracing.sh location of sh file assumed if user follows README.md under "Getting started"

    • Created alternative ManualTracing
    • added new sm markdowns
    • added a dockerfile for Rolling and Galactic

    * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update tracing/ManualTracing.md Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * changed wording "smacc application" to "SMACC2 library" Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update smacc_sm_reference_library/sm_atomic/README.md edit from html to markdown syntax Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    • reactivating smacc2 nav clients for rolling via submodules
    • renamed tracing events after
    • bug in smacc2 component
    • reverted markdowns to html
    • added README tutorial for Dockerfile
    • additional cleanup
    • cleanup
    • cleanup
    • edited tracing.md to reflect new tracing event names
    • Enable build of missing rolling repositories.
    • Enable Navigation2 for semi-binary build.
    • Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file
    • updated mentions of SMACC/ROS to SMACC2/ROS2
    • some progress on navigation rolling
    • renamed folders, deleted tracing.md, edited README.md
    • added smacc2_performance_tools
    • performance tests improvements
    • more on performance and other issues
    • sm_respira_1 format cleanup
    • sm_respira_1 format cleanup pre-commit
    • sm_respira_test_2
    • sm_respira_test_2
    • more changes on performance tests
    • Do not execute clang-format on smacc2_sm_reference_library package.
    • sm_reference_library reformatting
    • Correct trailing spaces.
    • sm_atomic_24hr
    • sm_atomic_performance_trace_1
    • Update smacc2_rta command across readmes
    • Clean up of sm_atomic_24hr
    • more sm_atomic_24hr cleanup
    • Optimized deps in move_base_z_planners_common.
    • Renaming of event generator library
    • minor formatting
    • Add galactic CI setup and rename rolling files. (#58)
    • Fix source CI and correct README overview. (#62)
    • Update c_cpp_properties.json

    * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) also noticed a note I had made while producing these that was not removed

    * update doxygen links (#70) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

    * More Readme Updates (#72) Co-authored-by: Ubuntu 20-04-02-amd64

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.2.4
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 2023-06-09
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

Doxygen Namespace & Class Reference

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_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
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.1.21
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 foxy
Last Updated 2023-05-12
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

Doxygen Namespace & Class Reference

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_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
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

No known dependants.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.22.1
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 rolling
Last Updated 2022-11-28
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

Doxygen Namespace & Class Reference

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_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

Changelog for package sm_multi_stage_1

1.22.1 (2022-11-09)

  • pre-release

  • Contributors: pabloinigoblasco

  • Feature/galactic rolling merge (#288)

    • 0.1.0

    * Revert "Ignore all packages except smacc2 and smacc2_msgs" This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61.

    • Update description table.
    • Update table
    • Copy initial docs

    * Dockerfile w/ ROS distro as argument use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/"

    • Opened new folder for additional tracing contents
    • Delete tracing directory
    • Moved tracing.md to tracing directory

    * added setupTracing.sh Installs necessary packages and configures tracing group.

    * Removed manual installation of ros-rolling-ros2trace This is now automated in setupTracing.sh location of sh file assumed if user follows README.md under "Getting started"

    • Created alternative ManualTracing
    • added new sm markdowns
    • added a dockerfile for Rolling and Galactic

    * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update tracing/ManualTracing.md Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * changed wording "smacc application" to "SMACC2 library" Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    * Update smacc_sm_reference_library/sm_atomic/README.md edit from html to markdown syntax Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>>

    • reactivating smacc2 nav clients for rolling via submodules
    • renamed tracing events after
    • bug in smacc2 component
    • reverted markdowns to html
    • added README tutorial for Dockerfile
    • additional cleanup
    • cleanup
    • cleanup
    • edited tracing.md to reflect new tracing event names
    • Enable build of missing rolling repositories.
    • Enable Navigation2 for semi-binary build.
    • Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file
    • updated mentions of SMACC/ROS to SMACC2/ROS2
    • some progress on navigation rolling
    • renamed folders, deleted tracing.md, edited README.md
    • added smacc2_performance_tools
    • performance tests improvements
    • more on performance and other issues
    • sm_respira_1 format cleanup
    • sm_respira_1 format cleanup pre-commit
    • sm_respira_test_2
    • sm_respira_test_2
    • more changes on performance tests
    • Do not execute clang-format on smacc2_sm_reference_library package.
    • sm_reference_library reformatting
    • Correct trailing spaces.
    • sm_atomic_24hr
    • sm_atomic_performance_trace_1
    • Update smacc2_rta command across readmes
    • Clean up of sm_atomic_24hr
    • more sm_atomic_24hr cleanup
    • Optimized deps in move_base_z_planners_common.
    • Renaming of event generator library
    • minor formatting
    • Add galactic CI setup and rename rolling files. (#58)
    • Fix source CI and correct README overview. (#62)
    • Update c_cpp_properties.json

    * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) also noticed a note I had made while producing these that was not removed

    * update doxygen links (#70) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

    * More Readme Updates (#72) Co-authored-by: Ubuntu 20-04-02-amd64

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sm_multi_stage_1 at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.3.19
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 humble
Last Updated 2025-06-17
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 sm_multi_stage_1 package

Additional Links

No additional links.

Maintainers

  • geus

Authors

No additional authors.

State Machine Diagram

sm_multi_stage_1

Description

A large multi stage state machine that demonstrates that the NxN problem is not as formidable as some would have you believe.
</br>

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

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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Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/sm_multi_stage_1.launch
      • server_nodes_xterms [default: xterm -xrm 'XTerm*scrollBar: true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e]

Messages

No message files found.

Services

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Plugins

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