SMACC2 repository

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version master
Last Updated 2021-08-31
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)

README

SMACC2

SMACC2 is a state-machine framework for ROS2-based applications written in C++.

Repository Status, Packages and Documentation

ROS2 Distro Build status Documentation Released packages
Galactic
Rolling
master
Binary Build
Semi-Binary Build
Source Build
Doxygen Doc Deployment
Generated Doc
smacc2
smacc2_msgs

Repository Structure

  • smacc2 - core library of SMACC2.
  • smacc_client_library - client libraries for SMACC2, e.g., Navigation2 (move_base_z_client), MoveIt2 (move_group_interface_client).
  • smacc_event_generators - ...
  • smacc_msgs - ROS2 messages for SMACC2 framework.
  • smacc_sm_reference_library - libraries with reference implementations of state-machines used for demonstaration and testing of functionalities.
  • ↓smacc_state_reactor_library - ...

Getting started

  1. Install ROS2 Rolling.

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

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

  1. Create a new ROS2 workspace:
   export COLCON_WS=~/workspace/ros_ws_rolling_smacc
   mkdir -p $COLCON_WS/src

  1. Pull relevant packages, install dependencies, compile, and source the workspace by using:
   cd $COLCON_WS
   git clone https://github.com/robosoft-ai/SMACC2.git src/SMACC2
   vcs import src --skip-existing --input src/SMACC2/SMACC2-not-released.rolling.repos
   rosdep install --ignore-src --from-paths src -y -r
   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
   source install/setup.bash

Examples

To demonstrate some functionalities of the SMACC2 you can use following examples:

sm_atomic

TBD: add some description

ros2 launch sm_atomic sm_atomic.py

sm_dance_bot

TBD: add some description

ros2 launch sm_dance_bot sm_dance_bot_launch.py

CONTRIBUTING

Contributing Guidelines

Thank you for your interest in contributing to smacc. 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 (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.

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version foxy
Last Updated 2021-06-08
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

SMACC2

dependencies and submodules

SMACC2 main branch is attached to the rolling ros2 version. Because of that, there are some dependencies to some packages that are not available via apt-get. The most important dependency is the navigation2 stack. Because of that we add that repo as a submodule and also there is a setup_build.bash

basic example

To launch sm_dance_bot do the following:

ros2 launch sm_dance_bot sm_dance_bot_launch.py 

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version master
Last Updated 2021-08-31
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)

README

SMACC2

SMACC2 is a state-machine framework for ROS2-based applications written in C++.

Repository Status, Packages and Documentation

ROS2 Distro Build status Documentation Released packages
Galactic
Rolling
master
Binary Build
Semi-Binary Build
Source Build
Doxygen Doc Deployment
Generated Doc
smacc2
smacc2_msgs

Repository Structure

  • smacc2 - core library of SMACC2.
  • smacc_client_library - client libraries for SMACC2, e.g., Navigation2 (move_base_z_client), MoveIt2 (move_group_interface_client).
  • smacc_event_generators - ...
  • smacc_msgs - ROS2 messages for SMACC2 framework.
  • smacc_sm_reference_library - libraries with reference implementations of state-machines used for demonstaration and testing of functionalities.
  • ↓smacc_state_reactor_library - ...

Getting started

  1. Install ROS2 Rolling.

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

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

  1. Create a new ROS2 workspace:
   export COLCON_WS=~/workspace/ros_ws_rolling_smacc
   mkdir -p $COLCON_WS/src

  1. Pull relevant packages, install dependencies, compile, and source the workspace by using:
   cd $COLCON_WS
   git clone https://github.com/robosoft-ai/SMACC2.git src/SMACC2
   vcs import src --skip-existing --input src/SMACC2/SMACC2-not-released.rolling.repos
   rosdep install --ignore-src --from-paths src -y -r
   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
   source install/setup.bash

Examples

To demonstrate some functionalities of the SMACC2 you can use following examples:

sm_atomic

TBD: add some description

ros2 launch sm_atomic sm_atomic.py

sm_dance_bot

TBD: add some description

ros2 launch sm_dance_bot sm_dance_bot_launch.py

CONTRIBUTING

Contributing Guidelines

Thank you for your interest in contributing to smacc. 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 (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.