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 built the project don’t forget to setup your environment: First source the gazebo setup via

source /opt/ros/humble/share/gazebo_ros/local_setup.bash

Then source the proper workspace…

source ~/workspace/humble_ws/install/setup.sh

And then run the launch file…

ros2 launch sm_panda_moveit2z_cb_inventory sm_panda_moveit2z_cb_inventory.launch.py

If the simulation is not starting up properly check if your GAZEBO_RESOURCE_PATH is set correctly (echo $GAZEBO_RESOURCE_PATH). Otherwise simply set it with:

export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-<your_gazebo_version>/

Note: Sometimes the Gazebo server is not shutdown correctly. If you cannot restart the simulation you might have to look if there is still a instance of the server (gzserver) running. You then have to end it manually. Or just run:

killall -9 gzserver

Viewer Instructions

If you have the SMACC2 Runtime Analyzer installed then type…

ros2 run smacc2_rta smacc2_rta

If you don’t have the SMACC2 Runtime Analyzer click here

Changelog for package sm_panda_moveit2z_cb_inventory

2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} repository - Brettpac branch (#518) - Attempted fix for ros buildfarm issue - Further work on buildfarm problem - 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 - Improved navigation client behaviors and husky barrel demo (#311) - Enhanced navigation client behaviors and husky barrel demo - Various improvements in action client and cb sequence for husky barrel search - Added more and better navigation behaviors for husky barrel search demo - Functionality enhancements in navigation and warehouse 3 - Format improvements - Initial fixing of single UR sim. (#302) - Updated repos files and README.md for gazebo simulation of UR5 - Fixed formatting - Python flake formatting fixes - Co-authored-by: Manuel M <<mamueluth@gmail.com>> - Feature/multi UR5 sim (#290) - Removed galactic builds from master and kept only rolling - Updated mentions of SMACC/ROS to SMACC2/ROS2 - Progress on navigation rolling - Renamed folders, deleted tracing.md, edited README.md - Added smacc2_performance_tools - Performance tests improvements - Format cleanup for sm_respira_1 - More performance and other issues - Format cleanup for sm_respira_test_2 - Do not execute clang-format on smacc2_sm_reference_library package - Reformatting for sm_reference_library - Corrected trailing spaces - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - Minor formatting - Added galactic CI setup and renamed rolling files (#58) - Fixed source CI and corrected README overview (#62) - Updated c_cpp_properties.json - Changed launch command to [ros2 launch sm_respira_1 sm_respira_1.launch]{.title-ref} (#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) - Progress in aws navigation demo - Several core improvements during navigation testing - Format improvements - Feature/aws demo progress (#80) - More on navigation - Reworked sm_advanced_recovery_1 (#83) - More sm_advanced_recovery_1 work (#85) - Round 4 of sm_advanced_recovery_1 (#86) - More sm_advanced_recovery_1 (#84) - Sm_atomic_performance_test_c_1 (#88) - Modifying sm_atomic_performance_test_a_2 (#89) - Sm_multi_stage_1 (#90) - More sm_multi_stage_1 (#91) - Update README.md - Wait topic message client behavior (#81) - New feature, cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - Attempting precommit fixes - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>> - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Feature/wait nav2 nodes client behavior (#82) - New feature, cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - Adding 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 - Corrected all linters and formatters

`rst Section_2 ========= Added ----- - Feature/aws demo progress (#92) - Implemented base for the sm_aws_aarehouse navigation. - Made progress in AWS navigation. - Introduced several core improvements during navigation testing. - Added formatting improvements. - Developed new feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - Added new client behavior for nav2, allowing waiting for nav2 nodes subscribing to the /bond topic and ensuring they are alive. - Continued progress in AWS navigation demo. - Feature/sm dance bot fixes (#93) - Implemented base for the sm_aws_aarehouse navigation. - Made progress in AWS navigation. - Introduced several core improvements during navigation testing. - Added formatting improvements. - Developed new feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - Added new client behavior for nav2, allowing waiting for nav2 nodes subscribing to the /bond topic and ensuring they are alive. - Continued progress in AWS navigation demo. - Fixed navigation parameters on sm_dance_bot. - Feature/sm aws warehouse (#94) - Implemented base for the sm_aws_aarehouse navigation. - Made progress in AWS navigation. - Introduced several core improvements during navigation testing. - Added formatting improvements. - Developed new feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - Added new client behavior for nav2, allowing waiting for nav2 nodes subscribing to the /bond topic and ensuring they are alive. - Continued progress in AWS navigation demo. - Merged and made progress. - Feature/sm dance bot fixes (#95) - Implemented base for the sm_aws_aarehouse navigation. - Made progress in AWS navigation. - Introduced several core improvements during navigation testing. - Added formatting improvements. - Developed new feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - Added new client behavior for nav2, allowing waiting for nav2 nodes subscribing to the /bond topic and ensuring they are alive. - Continued progress in AWS navigation demo. - Fixed navigation parameters on sm_dance_bot. - Remove some compile warnings. (#96) - Feature/cb pause slam (#98) - Implemented base for the sm_aws_aarehouse navigation. - Made progress in AWS navigation. - Introduced several core improvements during navigation testing. - Added formatting improvements. - Developed new feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - Added new client behavior for nav2, allowing waiting for nav2 nodes subscribing to the /bond topic and ensuring they are alive. - Continued progress in AWS navigation demo. - Fixed navigation parameters on sm_dance_bot. - Implemented cb pause slam client behavior. - sm_dance_bot_lite (#99) - Updated yaml files. - Rename doxygen deployment workflow (#100) - sm_dance_bot visualizing turtlebot3 (#101) - Feature/dance bot launch gz lidar choice (#102) - Improved visualization of turtlebot3. - Added cleaning and lidar show/hide option. - Enhanced file cleaning and formatting. - Implemented more fixes. - Feature/sm dance bot lite gazebo fixes (#104) - Improved visualization of turtlebot3. - Added cleaning and lidar show/hide option. - Enhanced file cleaning and formatting. - Fixed gazebo issues to show the robot and the lidar. - Made format fixes. - sm_multi_stage_1 doubling (#103) - Feature/sm dance bot strikes back gazebo fixes (#105) - Improved visualization of turtlebot3. - Added cleaning and lidar show/hide option. - Enhanced file cleaning and formatting. - Made more fixes. - Fixed gazebo issues for sm_dance_bot_strikes_back. - Precommit cleanup run (#106) - aws demo (#108) - Implemented AWS demo. - Made formatting adjustments. - Brettpac branch (#110) - Made progress on sm_multi_stage_1. - Continued development on sm_multi_stage_1 with multiple stages. - Brettpac branch (#111) - Made progress on sm_multi_stage_1. - Continued development on sm_multi_stage_1 with multiple stages. - a3 (#113) Removed ------- - Removed neo_simulation2 package. (#112)`

Section_3

Added

• Enable source build on PR for testing.
• Additional linting and formatting.
• Progress in navigation, slam toggle client behaviors, and slam_toolbox components.
• Introducing slam pausing/resuming functionality in sm_dance_bot testing.
• First working version of sm template and template generator.
• Added SVGs to READMEs of atomic, dance_bot, and others.
• Rolling Docker environment to be executed from any environment.
• Added SM Atomic SM generator.
• Initial migration to smacc2.
• Added QOS durability to SmaccPublisherClient.
• More testing on moveit behaviors.
• Husky launch file in sm_dance_bot.
• Update dependencies for husky in rolling and galactic.

Changed

• Adjust build packages of source CI.
• Move method after the method it calls to prevent recursion.
• Resolved compile warnings.
• Minor navigation improvements.
• Using local action messages.
• Removed node creation and create only a logger.
• Moved reference library SMs to smacc2_performance_tools.
• Added QOS durability to SmaccPublisherClient.
• Refactored to remove line.
• Added reliability QOS config.

Fixed

• Corrected formatting.
• Remove merge markers from a python file.

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