Changelog for package sm_pubsub_1

Package Summary

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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### Removed - Redundant or outdated information.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

Wiki Tutorials

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

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

Tags	No category tags.
Version	1.22.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	rolling
Last Updated	2022-11-28
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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

Tags	No category tags.
Version	1.22.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	rolling
Last Updated	2022-11-28
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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

Tags	No category tags.
Version	1.22.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	rolling
Last Updated	2022-11-28
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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

Tags	No category tags.
Version	2.2.4
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	galactic
Last Updated	2023-06-09
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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.

Wiki Tutorials

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

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

Tags	No category tags.
Version	2.1.21
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	foxy
Last Updated	2023-05-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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.

Wiki Tutorials

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

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

Tags	No category tags.
Version	1.22.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	rolling
Last Updated	2022-11-28
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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 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_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_http sm_atomic_lifecycle sm_atomic_mode_states sm_atomic_services sm_branching 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

Tags	No category tags.
Version	2.3.19
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robosoft-ai/SMACC2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-06-17
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The sm_pubsub_1 package

Additional Links

No additional links.

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

Wiki Tutorials

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

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