State Machine Diagram

Description

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

First, source your ros2 installation.

source /opt/ros/humble/setup.bash

Before you build, make sure you’ve installed all the dependencies…

rosdep install --ignore-src --from-paths src -y -r

Then build with colcon build…

colcon build

Operating Instructions

After you build, remember to source the proper install folder…

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

And then run the launch file… ! refactor state machine name

ros2 launch sm_three_some sm_three_some.launch

Viewer Instructions

If you have the SMACC2 Runtime Analyzer installed then type…

ros2 run smacc2_rta smacc2_rta

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

Changelog for package sm_three_some

2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} repository - Brettpac branch (#518) - Attempted to fix an issue with ros buildfarm - Addressed buildfarm issue - Co-authored-by: brettpac <<brettpac@pop-os.localdomain>> - Contributors: brettpac, pabloinigoblasco

2.3.6 (2023-03-12)

1.22.1 (2022-11-09)

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

### Changed - Reverted "Ignore packages which should not be released." - Contributors: Denis Štogl

0.3.0 (2022-04-04)

0.0.0 (2022-11-09)

### Added - Reverted "Ignore packages which should not be released." - Ignored packages not meant for release - Galactic type walker (#264) - Feature/master rolling to galactic backport (#236) - Updated references from SMACC/ROS to SMACC2/ROS2 - Progress on navigation rolling - Renamed folders, deleted tracing.md, edited README.md - Added smacc2_performance_tools - Improved performance tests - Cleaned up sm_respira_1 format - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - Updated CI setup and renamed rolling files - Fixed source CI and corrected README overview - Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch - Updated doxygen links - Added new feature, cb_wait_topic_message - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic - Corrected all linters and formatters - 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>> - Contributors: brettpac

`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: `add` behavior waits for nav2 nodes subscribing to the `/bond` topic and ensures they are alive; optional node selection - Base for the `sm_aws_warehouse` navigation - `cb_pause_slam` client behavior - `sm_dance_bot_lite` visualizing TurtleBot3 - `dance_bot_launch_gz_lidar_choice`: cleaning and lidar show/hide option - `sm_dance_bot_strikes_back` gazebo fixes - AWS demo - `sm_multi_stage_1` doubling - `sm_multi_stage_1` fixes and improvements - Diverse improvements in navigation and performance Changed ------- - Navigation parameters fixes on `sm_dance_bot` Fixed ----- - Remove some compile warnings - Minor hotfix - Correct formatting - Enable source build on PR for testing - Adjust build packages of source CI - Minor fixes and improvements Removed ------- - `neo_simulation2` package Contributors ------------ - Pablo Iñigo Blasco - Ubuntu 20-04-02-amd64 <brett@robosoft.ai>`

## Section_3

### Added - Feature/diverse improvements navigation performance (#117) - Minor enhancements in navigation and performance. - Additional linting and formatting. - Feature/slam toggle and smacc deep history (#122) - Progress in navigation, slam toggle client behaviors, and slam_toolbox components. - Introducing smacc2::deep_history syntax. - Testing sm_dance_bot with slam pausing/resuming functionality. - Added SVGs to READMEs of atomic, dance_bot, and others (#140) - Added remaining SVGs to READMEs (#145) - Rolling Docker environment to be executed from any environment (#154) - Add SM Atomic SM generator. (#143) - Initial migration to smacc2 in Feature/migration moveit client (#151) - Fixing errors in formatting and dependencies. - Progress in moveit migration testing. - Added QOS durability to SmaccPublisherClient (#163) - Configured QOS durability and reliability. - Feature/aws navigation sm dance bot (#174) - Added dependencies for husky simulation. - Update dependencies for husky in rolling and galactic.

### Changed - Move method after the method it calls in (#126) - Prevent recursion issues. - Resolve compile warnings (#137) - Minor navigation improvements (#141) - Update package list. (#142) - Update readme (#164) - Minor changes in Feature/migration moveit client (#151) - Update readme in Feature/aws navigation sm dance bot (#174)

### Fixed - Fix CI: format fix python version (#148) - Fixing compiling issues in Feature/migration moveit client (#151) - Fixing broken master build in Feature/testing moveit behaviors (#167) - Fixing broken build in Feature/aws navigation sm dance bot (#174)

### Removed - Remove merge markers from a python file. (#119) - Removing sm_dance_bot_msgs in Feature/nav2z renaming (#144) - Removing parameters smacc in (#147) - Remove node creation and create only a logger in (#149)

### Miscellaneous - Noticed launch command was incorrect in README.md. - Minor format issues (#134) - Precommit cleanup. - Pending references in Feature/nav2z renaming (#144) - Warehouse2 progress (#179) - Format (#180) - Merge in Feature/sm warehouse 2 13 dec 2 (#182) - Headless and other fixes in Feature/sm warehouse 2 13 dec 2 (#182)

`rst Section 4 ========= Added ----- - Added Brettpac branch (#184) with default values. - Added redoing sm_dance_bot_warehouse_3 waypoints and more waypoints. - Added SrConditional fixes and formatting (#168): - Fixed formatting and templating on SrConditional. - Moved trigger logic into headers. - Linted the code. - Added Feature/wharehouse2 dec 14 (#185) with minor changes. - Added Feature/sm warehouse 2 13 dec 2 (#186) with format changes, headless merge, and other fixes. - Added finetuning waypoints (#187). - Added Feature/cb pure spinning (#188) with format changes, headless merge, and other fixes. - Added Feature/cb pure spinning (#189) with format changes, headless merge, and other fixes. - Added pure spinning behavior missing files and minor changes (#190). - Added Feature/planner changes 16 12 (#191) with minor changes, more fixes, and replanning for all examples. - Added Feature/replanning 16 dec (#193) with minor changes and replanning for all examples. - Added several fixes (#194). - Added minor changes (#195). - Added Feature/undo motion 20 12 (#196) with minor changes, replanning for all examples, and improving undo motion navigation warehouse2. - Added tuning warehouse3 (#197). - Added Feature/undo motion 20 12 (#198) with minor changes, replanning for all examples, improving undo motion navigation warehouse2, and undo tuning and errors. - Added Feature/sync 21 12 (#199) with minor changes, replanning for all examples, and format issues. - Added Feature/warehouse2 22 12 (#200) with minor changes, replanning for all examples, and format issues. - Added Feature/warehouse2 23 12 (#201) with minor changes, replanning for all examples, and tuning and fixes. - Added Feature/minor tune (#203) with tuning and fixes, and minor tune. - Added fixing warehouse 3 problems, and other core improvements (#204): - Fixed warehouse 3 problems to remove deadlocks and make continuous integration green. - Fixed weird moveit not downloaded repo. - Added missing file from warehouse2. - Added Foxy backport (#206) with minor formatting fixes, fix for trailing spaces, codespell correction, python linters warnings correction, and other updates. - Added galactic CI build because Navigation2 is broken in rolling. - Added partial changes for ament_cpplint. - Added tf2_ros as dependency to find include. - Added ament_lint_cmake satisfaction. - Added missing licenses. - Added necessary package and edited Threesome launch. - Added workflow for checking doc build. - Added doxygen-check-build.yml update. - Created doxygen-deploy.yml. - Created workflow for testing prerelease builds. - Used docs/ as source folder for documentation and output directory. - Renamed to smacc2 and smacc2_msgs. - Corrected GitHub branch reference. - Updated name of package and package.xml to pass liter. - Executed on master update. - Reset all versions to 0.0.0. - Ignored all packages except smacc2 and smacc2_msgs. - Updated changelogs. - Reverted "Ignore all packages except smacc2 and smacc2_msgs" commit. - Updated description table. - Updated table. - Copied initial docs. - Created Dockerfile w/ ROS distro as argument. - Opened new folder for additional tracing contents. - Deleted tracing directory. - Moved tracing.md to tracing directory. - Added setupTracing.sh to install necessary packages and configure tracing group. - Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh. - Created alternative ManualTracing. - Added new sm markdowns. - Added a Dockerfile for Rolling and Galactic. - Updated smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh. - Updated tracing/ManualTracing.md. - Changed wording "smacc application" to "SMACC2 library". - Updated smacc_sm_reference_library/sm_atomic/README.md. - Reactivated smacc2 nav clients for rolling via submodules. - Renamed tracing events. - Fixed bug in smacc2 component. - Reverted markdowns to html. - Added README tutorial for Dockerfile. - Enabled build of missing rolling repositories. - Enabled Navigation2 for semi-binary build. - Removed galactic builds from master and kept only rolling, removed submodules and used .repos file. - Updated mentions of SMACC/ROS to SMACC2/ROS2. Removed ------- - Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh. Changed ------- - Changed ros2 launch sm_three_some sm_three_some to ros2 launch sm_three_some sm_three_some.launch. - Renamed header files and corrected format. - Updated doxygen-check-build.yml. - Used manual deployment for now. - Used docs/ as source folder for documentation and output directory. - Corrected GitHub branch reference. - Updated name of package and package.xml to pass liter. - Reset all versions to 0.0.0. - Updated description table. - Updated table. - Changed wording "smacc application" to "SMACC2 library". - Updated smacc_sm_reference_library/sm_atomic/README.md. - Renamed tracing events after. - Updated mentions of SMACC/ROS to SMACC2/ROS2.`

pabloinigoblasco

`rst Section 5 ========= Added ----- - Added smacc2_performance_tools. - Added galactic CI setup and renamed rolling files. (#58) - Added more Readme updates. (#72) - Added more Readme updates. (#74) - Added new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents for success. - Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic and waiting for them to be alive. You can optionally select the nodes to wait. Changed ------- - Renamed folders, deleted tracing.md, and edited README.md. - Updated smacc2_rta command across readmes. - Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69). - Updated doxygen links (#70). - Updated README.md launch command. - Corrected all linters and formatters. Fixed ----- - Corrected trailing spaces. - Fixed source CI and corrected README overview. (#62). - Fixed pre-commit issues. - Fixed navigation parameters on sm_dance_bot. Removed ------- - Do not execute clang-format on smacc2_sm_reference_library package. Authors ------- - Pablo Iñigo Blasco - Ubuntu 20-04-02-amd64 <brett@robosoft.ai> - Denis Štogl <denis@stogl.de> - Denis Štogl <destogl@users.noreply.github.com>`

`rst Section_6 ========= Added ----- - Feature/sm aws warehouse (#94) - Implemented base for the sm_aws_warehouse navigation. - Made progress in AWS navigation. - Introduced several core improvements during navigation testing. - Improved formatting. - Added new feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success. - Added new client behavior for nav2, which waits for nav2 nodes subscribing to the /bond topic and ensures they are alive. - Fixed navigation parameters on sm_dance_bot. Changed ------- - Feature/sm dance bot fixes (#95) - Improved AWS navigation. - Made core improvements during navigation testing. - Progressed in AWS navigation demo. - Enhanced formatting. - Fixed navigation parameters on sm_dance_bot. - Feature/cb pause slam (#98) - Improved AWS navigation. - Made core improvements during navigation testing. - Progressed in AWS navigation demo. - Enhanced formatting. - Fixed navigation parameters on sm_dance_bot. - Added cb pause slam client behavior. - sm_dance_bot_lite (#99) - Updated YAML configuration. - Rename doxygen deployment workflow (#100) - Applied minor hotfix. - sm_dance_bot visualizing turtlebot3 (#101) - Improved visualization of turtlebot3. - Feature/dance bot launch gz lidar choice (#102) - Added cleaning and lidar show/hide option. - Feature/sm dance bot lite gazebo fixes (#104) - Improved gazebo visualization for the robot and lidar. - sm_multi_stage_1 doubling (#103) - Improved sm_multi_stage_1 functionality. - Feature/sm dance bot strikes back gazebo fixes (#105) - Improved gazebo visualization for the robot and lidar. - Fixed gazebo issues on sm_dance_bot_strikes_back. - aws demo (#108) - Conducted AWS demo. - Brettpac branch (#110, #111) - Improved functionality of sm_multi_stage_1. - a3 (#113) - Implemented a3 feature. - Remove neo_simulation2 package. (#112) - Removed neo_simulation2 package. - Corrected formatting. - Enabled source build on PR for testing. - Adjusted build packages of source CI. - mm (#115) - Implemented mm feature. - diverse improvements navigation and performance (#116) - Made diverse improvements in navigation and performance. - Feature/diverse improvements navigation performance (#117) - Made diverse improvements in navigation and performance. - Conducted additional linting and formatting. - Remove merge markers from a python file. (#119) - Removed merge markers from a Python file. - Feature/slam toggle and smacc deep history (#122) - Made progress in navigation, slam toggle client behaviors, and slam_toolbox components. - Introduced smacc2::deep_history syntax. - Added slam pausing/resuming functionality to sm_dance_bot. - Move method after the method it calls. Otherwise recursion could happen. (#126) - Feature/dance bot s pattern (#128, #129) - Polished sm_dance_bot and s-pattern. - Corrected typo. - Refined sm_dance_bot functionality.`

pabloinigoblasco

Section 7

Added

• First working version of sm template and template generator. (#127)

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