Changelog for package sm_pubsub_1

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

sm_pubsub_1 package from SMACC2 repo

smacc2 keyboard_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_hierarchy sm_atomic_services sm_autoware_avp sm_aws_warehouse_navigation sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_multi_ur5_sim sm_pack_ml sm_pubsub_1 sm_respira_1 sm_test_moveit_ur5_sim sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
jazzy

Package Summary

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
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.
 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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

1.22.1 (2022-11-09)

pre-release
Contributors: pabloinigoblasco
publisher
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>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

sm_pubsub_1 package from SMACC2 repo

smacc2 keyboard_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_hierarchy sm_atomic_services sm_autoware_avp sm_aws_warehouse_navigation sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_multi_ur5_sim sm_pack_ml sm_pubsub_1 sm_respira_1 sm_test_moveit_ur5_sim sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
kilted

Package Summary

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
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.
 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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

1.22.1 (2022-11-09)

pre-release
Contributors: pabloinigoblasco
publisher
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>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

sm_pubsub_1 package from SMACC2 repo

smacc2 keyboard_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_hierarchy sm_atomic_services sm_autoware_avp sm_aws_warehouse_navigation sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_multi_ur5_sim sm_pack_ml sm_pubsub_1 sm_respira_1 sm_test_moveit_ur5_sim sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
rolling

Package Summary

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
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.
 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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

1.22.1 (2022-11-09)

pre-release
Contributors: pabloinigoblasco
publisher
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>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

sm_pubsub_1 package from SMACC2 repo

smacc2 keyboard_client lifecyclenode_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_hierarchy sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_pack_ml sm_pubsub_1 sm_respira_1 sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
galactic

Package Summary

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
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.
 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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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.

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

sm_pubsub_1 package from SMACC2 repo

smacc2 keyboard_client multirole_sensor_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_mode_states sm_branching sm_multi_stage_1 sm_pubsub_1 sm_respira_1 sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
foxy

Package Summary

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
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.
 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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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.

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

sm_pubsub_1 package from SMACC2 repo

smacc2 keyboard_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_hierarchy sm_atomic_services sm_autoware_avp sm_aws_warehouse_navigation sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_multi_ur5_sim sm_pack_ml sm_pubsub_1 sm_respira_1 sm_test_moveit_ur5_sim sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
iron

Package Summary

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
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.
 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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

1.22.1 (2022-11-09)

pre-release
Contributors: pabloinigoblasco
publisher
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>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange

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

sm_pubsub_1 package from SMACC2 repo

smacc2 cl_ros2_timer http_client keyboard_client lifecyclenode_client moveit2z_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching sm_cl_ros2_timer_unit_test_1 sm_multi_stage_1 sm_pack_ml sm_panda_moveit2z_cb_inventory sm_pubsub_1 sm_simple_action_client sm_three_some sr_all_events_go sr_conditional sr_event_countdown

ROS Distro
humble

Package Summary

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	2025-09-15
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The sm_pubsub_1 package

Maintainers

Pablo Iñigo Blasco

Authors

No additional authors.

State Machine Diagram

sm_pubsub_1

Description

A simple, but complete state machine example. We highly recommend using this example as a starting point for users’ state machine projects.

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… ! refactor state machine name

ros2 launch sm_pubsub_1 sm_pubsub_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_pubsub_1

Version 2.3.16 (2023-07-16)

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

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

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

### Changed - Various updates and improvements related to publisher features and documentation. - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Fixed - Multiple performance tests and cleanup tasks. - Updates and corrections in various README files. - Navigation improvements and bug fixes. - Formatting and naming adjustments. - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

### Removed - Redundant or outdated information. - Unused files and directories.

### Miscellaneous - Ongoing work on AWS navigation demo. - Continued enhancements in core functionality. - Pre-commit fixes and adjustments.

### Contributors - brettpac - pabloinigoblasco - Denis Štogl - Ubuntu 20-04-02-amd64

`rst Section_2 ========= Added ----- - New feature: `cb_wait_topic_message`: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - New client behavior for nav2: `wait nav2 nodes` subscribing to the `/bond` topic and waiting for them to be alive; optional node selection - `cb_pause_slam` client behavior - `sm_dance_bot_lite` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_multi_stage_1` doubling - `sm_dance_bot_strikes_back` gazebo fixes: cleaning, lidar show/hide option, formatting work, and more fixes - `sm_dance_bot_visualizing_turtlebot3` - `sm_aws_warehouse` navigation base - Progress in AWS navigation demo - Several core improvements during navigation testing - Minor format improvements - Merge and progress - Correct all linters and formatters - Remove some compile warnings - Updates yaml - Rename doxygen deployment workflow - `sm_dance_bot` visualizing turtlebot3 - `sm_dance_bot` launch gazebo lidar choice - `sm_dance_bot` fixes - `sm_aws_warehouse` feature progress - `sm_dance_bot` fixes Changed ------- - Formatting improvements - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Attempted precommit fixes - Fix format Removed ------- - Minor hotfix - Minor format Collaborators ------------- - 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>`

pabloinigoblasco

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 QOS durability to SmaccPublisherClient (#163)
Added sm_pubsub_1 (#169, #170)

Changed

Improved gazebo to show the robot and lidar
Improved format
Improved gazebo for sm_dance_bot_strikes_back
Improved sm_multi_stage_1 functionality (#109, #114, #115)
Improved navigation and performance
Improved dance bot's pattern
Improved navigation in sm_dance_bot tests (#135)
Improved minor navigation issues
Renamed navigation 2 stack
Updated package list (#142)
Refactored sm_dance_bot strikes back (#152)
Updated readme (#164)
Moved reference library SMs to smacc2_performance_tools
Added reliability QOS config to SmaccPublisherClient

Fixed

Fixed neo_simulation2 package removal (#112)
Fixed source build on PR for testing
Fixed build packages of source CI
Fixed waypoints navigator bug (#133)
Fixed overshot issue cases in navigation
Fixed format in CI for Python version (#148)
Fixed node creation in SM Atomic SM generator
Fixed launch command in README.md
Fixed compiling issues

Removed

Removed neo_simulation2 package
Removed sm_dance_bot_msgs
Removed parameters in SMACC
Removed test from main moveit cmake

Collaborators

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

`rst Section_4 ========= Added ----- - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Added progress on aws navigation and refactorings on navigation clients and behaviors. - Added more on aws demo. - Added finishing touches 1. - Added readme. Changed ------- - Renamed sm_advanced_recovery_1 (#171). - Reworked sm_multi_stage_1 (#172). - Updated dependencies for husky in rolling and galactic. - Updated warehouse2 (#177). - Updated Waypoint Inputs (#178). - Updated sm_dance_bot_warehouse_3 (#181). - Updated sm_dance_bot_warehouse_3 waypoints. - Updated pure spinning behavior. - Updated planner changes 16 12 (#191). - Updated replanning for all examples. - Improved undo motion navigation in warehouse2. - Tuned warehouse3 (#197). - Fixed warehouse 3 problems and other core improvements (#204). - Merged code from backport foxy and updates about autoware (#208). - Updated ci-build-source.yml. - Updated doxygen-check-build.yml. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs". Fixed ----- - Fixed broken build. - Fixed some formatting. - Fixed some linting issues. - Fixed some linking errors in foxy. - Fixed trailing spaces. - Fixed codespell and python linters warnings. - Fixed weird moveit not downloaded repo. - Fixed missing files in warehouse2. - Fixed continuous integration issues. - Fixed dead lock issues. - Fixed minor formatting issues. Removed ------- - Removed unnecessary packages. - Removed disabled packages. - Removed trailing spaces. - Removed some linting tools. - Removed some unnecessary dependencies. 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>`

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	eg_conditional_generator
	keyboard_client
	smacc2
	std_msgs

System Dependencies

Name
xterm

Dependant Packages

No known dependants.

Launch files

launch/sm_pubsub_1.launch
- - debug [default: false]
  - 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_pubsub_1` at Robotics Stack Exchange