SMACC2

SMACC2 is an event-driven, asynchronous, behavioral state machine library for real-time ROS 2 (Robotic Operating System) applications written in C++, designed to allow programmers to build robot control applications for multicomponent robots, in an intuitive and systematic manner.

SMACC was inspired by Harel’s statecharts and the SMACH ROS package. SMACC is built on top of the Boost StateChart library.

Repository Status, Packages and Documentation

ROS 2 Distro	Branch	Build status	Documentation	Released packages
Foxy	foxy		Generated Doc	SMACC2
Galactic	galactic		Generated Doc	SMACC2
Humble	humble		Generated Doc	SMACC2
Rolling	rolling		Generated Doc

NOTE: There are three build stages checking current and future compatibility of the package.

1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.

   Uses repos file: src/SMACC2/.github/SMACC2-not-released.<ros-distro>.repos

2. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source. Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.

   Uses repos file: src/SMACC2/.github/SMACC2.repos

3. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

Getting started - ROS Humble

1. Install ROS 2 Humble.

2. Make sure that colcon, its extensions and vcs are installed:

   sudo apt install python3-colcon-common-extensions python3-vcstool
   

1. Create a new ROS 2 workspace if necessary:

   export COLCON_WS=~/workspace/humble_ws
   mkdir -p $COLCON_WS/src
   

1. Or just navigate to your workspace source folder:

   cd ~/workspace/humble_ws/src
   

1. Clone the repo:

   git clone https://github.com/robosoft-ai/SMACC2.git
   

1. Checkout the Humble branch:

   cd ~/workspace/humble_ws/src/SMACC2
   git checkout humble
   

1. Navigate to the workspace:

   cd ~/workspace/humble_ws
   

1. Update System:

   sudo apt update
   sudo apt upgrade
   

1. Source the workspace:

   source /opt/ros/humble/setup.bash
   

1. Update dependencies:

   rosdep update
   

1. Pull relevant packages and install dependencies:

   vcs import src --skip-existing --input src/SMACC2/.github/SMACC2.humble.repos
   rosdep install --ignore-src --from-paths src -y -r
   

1. Compile:

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
   

Getting started - ROS Galactic

1. Install ROS 2 Galactic.

2. Make sure that colcon, its extensions and vcs are installed:

   sudo apt install python3-colcon-common-extensions python3-vcstool
   

1. Create a new ROS 2 workspace if necessary:

   export COLCON_WS=~/workspace/galactic_ws
   mkdir -p $COLCON_WS/src
   

1. Or just navigate to your workspace source folder:

   cd ~/workspace/galactic_ws/src
   

1. Clone the repo:

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Contributing Guidelines

Thank you for your interest in contributing to smacc2. Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
2. Give your PR a descriptive title. Add a short summary, if required.
3. Make sure the pipeline is green.
4. Don’t be afraid to request reviews from maintainers.
5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass. (colcon test and pre-commit run -a (requires you to install pre-commit by pip3 install pre-commit)
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Finding contributions to work on

Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.

Licensing

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.