CHANGELOG

# Changelog for package backward_local_planner

## Version 2.3.16 (2023-07-16) - Merged branch ‘humble’ from [robosoft-ai/SMACC2](https://github.com/robosoft-ai/SMACC2) into humble - Brettpac branch:

Attempted to fix weird issue with ros buildfarm

More work on buildfarm issue

Co-authored-by: brettpac <brettpac@pop-os.localdomain>

Contributors: brettpac, pabloinigoblasco

## Version 2.3.6 (2023-03-12)

## Version 1.22.1 (2022-11-09) - Pre-release - Contributors: pabloinigoblasco

## Version 0.3.0 (2022-04-04)

## Version 0.0.0 (2022-11-09) - Humble check and progress in migration to humble - Reverted “Ignore packages which should not be released.” - Updated mentions of SMACC/ROS to SMACC2/ROS2 - Performance tests improvements - Format cleanup in various packages - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - Added new features and improvements for AWS navigation demo - Added new client behavior for waiting topic messages - Corrected linters and formatters - Co-authored by various contributors including brettpac and Denis Štogl

```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: cb_wait_nav2_nodes: waits for Nav2 nodes subscribing to the /bond topic and ensures they are alive.

Changed

Improved core functionality during navigation testing.
Formatting enhancements throughout the codebase.
Progress made in AWS navigation demo.
Navigation parameters fixes on sm_dance_bot.
cb_pause_slam client behavior added.
sm_dance_bot_lite now visualizes TurtleBot3.
sm_multi_stage_1 functionality enhanced.

Fixed

Removed some compile warnings.
Fixed formatting issues.
Gazebo fixes for various components.
neo_simulation2 package removed.

Removed

neo_simulation2 package removed.

Other

Various minor updates and fixes.
Precommit cleanup run.
Workflow updates.
Collaborator contributions from Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.

```

Section_3

Version 0.1.0 (2022-01-01)

### Added - Diverse improvements in navigation and performance (#116) - Additional linting and formatting - Feature to toggle slam and deep history in smacc (#122) - First working version of sm template and template generator (#127) - Added SVGs to READMEs of atomic, dance_bot, and others (#140) - Added remaining SVGs to READMEs (#145) - Added SM Atomic SM generator (#143) - Rolling Docker environment to be executed from any environment (#154) - Added QOS durability to SmaccPublisherClient (#163) - Initial state machine transition timestamp (#165) - Moved reference library SMs to smacc2_performance_tools - Feature to test moveit behaviors (#167) - Progress on AWS navigation and some other refactorings on navigation clients and behaviors - Waypoint Inputs (#178)

### Changed - Move method after the method it calls to prevent recursion (#126) - Resolved compile warnings (#137) - Minor navigation improvements (#141) - Using local action messages - Renamed navigation 2 stack - Removed node creation and create only a logger (#149) - Minor changes in warehouse2 (#177)

### Fixed - Minor format issues (#134) - Fixed launch command for sm_dance_bot_strikes_back in README.md - Fixed CI format for python version (#148) - Fixed broken master build - Fixed pipeline error

### Removed - Removed merge markers from a python file (#119) - Removed parameters smacc - Removed test from main moveit cmake - Removed sm_dance_bot_msgs - Removed some comments in the past from README.md

Version 0.2.0 (2022-02-01)

### Added - Progress in navigation, slam toggle client behaviors, and slam_toolbox components (#122) - Introduced slam pausing/resuming functionality in sm_dance_bot - More refinement in sm_dance_bot - More progress on markers cleanup - Added remaining SVGs to READMEs - Added dependency to ur5 client - Added .reps dependencies and fixed some build errors - Added reliability qos config

### Changed - Slight waypoint 4 and iterations changes so the robot can complete the course (#155) - Progressing in the moveit migration testing - Updated format - Updated readme

### Fixed - Minor tuning to mitigate overshot issue cases - Fixed compiling issues

### Removed - Removed some comments in the past from README.md

Version 0.3.0 (2022-03-01)

### Added - Progress on moveit - More testing on moveit behaviors - Progress on sm_pubsub_1 - Progress on sm_pubsub_1 part 2 - Progress on sm_advanced_recovery_1 renaming - Progress on sm_multi_stage_1 reworking - Progress on sm_multi_stage_1 most - Progress on sm_multi_stage_1 finishing touches 1 - Progress on aws navigation and some other refactorings on navigation clients and behaviors - More on aws demo - Progress on warehouse2 - Progress on sm_dance_bot_warehouse_3

### Changed - Initial migration to smacc2 - Fixed some errors introduced on formatting - Fixed some more linting warnings - Fixed compiling issues - Updated dependencies for husky in rolling and galactic

### Removed - Removed test from main moveit cmake

### Authors - Pablo Iñigo Blasco - DecDury <declandury@gmail.com> - Denis Štogl <destogl@users.noreply.github.com> - Denis Štogl <denis@stogl.de> - Ubuntu 20-04-02-amd64 <brett@robosoft.ai>

```rst Section_4 =========

Added

Feature/sm warehouse 2 13 dec 2 (#182) - Implemented new warehouse feature.
Feature/wharehouse2 dec 14 (#185) - Added enhancements to warehouse functionality.
Feature/cb pure spinning (#188) - Introduced pure spinning behavior.
Feature/planner changes 16 12 (#191) - Implemented planner changes.
Feature/replanning 16 dec (#193) - Added replanning functionality.
Feature/undo motion 20 12 (#196) - Improved undo motion navigation.
Feature/sync 21 12 (#199) - Addressed synchronization issues.
Feature/warehouse2 22 12 (#200) - Completed warehouse2 development.
Feature/warehouse2 23 12 (#201) - Tuned and fixed warehouse2.
Feature/minor tune (#203) - Made minor adjustments.
Fix trailing spaces, codespell, linters warnings (#206) - Resolved various code issues.
Update changelogs - Updated changelogs to reflect changes.

Changed

Updated description table.
Updated table format.
Renamed header files and corrected format.
Changed extension of imports.
Renamed to smacc2 and smacc2_msgs.
Updated GitHub branch reference.
Updated package name and package.xml.
Reset all versions to 0.0.0.
Reverted “Ignore all packages except smacc2 and smacc2_msgs”.
Reverted markdowns to html format.
Enabled build of missing rolling repositories.

Removed

Deleted tracing directory.
Removed manual installation of ros-rolling-ros2trace.

Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai> Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Author: Pablo Iñigo Blasco (pabloinigoblasco) ```

Section 5

Added

Enable Navigation2 for semi-binary build.
Added smacc2_performance_tools.
Added galactic CI setup and renamed rolling files. (#58)
Added new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success.
Added new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. You optionally can select the nodes to wait.

Changed

Updated mentions of SMACC/ROS to SMACC2/ROS2.
Renamed folders, deleted tracing.md, 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.
Updated README.md launch command.

Fixed

Correct trailing spaces.
Optimized dependencies in move_base_z_planners_common.
Corrected README overview. (#62).
Fixed source CI.
Corrected all linters and formatters.

Removed

Do not execute clang-format on smacc2_sm_reference_library package.

Other

Some progress on navigation rolling.
Performance tests improvements.
More changes on performance tests.
Minor formatting.
Progress in aws navigation.
Several core improvements during navigation testing.
Formatting improvements.
Progress in aws navigation demo.
More on navigation.
Progressing in aws navigation.
Attempting precommit fixes.
Fixing precommit.
Minor format.

Collaborators

Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>.
Co-authored-by: Denis Štogl <denis@stogl.de>.

```rst Section_6 =========

Added

New client behavior cb_wait_topic_message added for nav2. It allows waiting for nav2 nodes subscribing to the /bond topic and ensures they are alive. Nodes to wait can be optionally selected.
New feature cb_pause_slam added for pausing SLAM functionality.
New feature sm_dance_bot_lite introduced for visualizing TurtleBot3 in Gazebo.
New feature sm_multi_stage_1 doubling functionality added.
New feature sm_dance_bot_strikes_back gazebo fixes implemented.

Changed

Progress made in AWS navigation demo.
Navigation parameters fixed for sm_dance_bot.
Formatting improvements across various features.
Gazebo fixes implemented to show the robot and lidar in different features.

Fixed

Compile warnings removed.
Recursion issue fixed by moving a method after the one it calls.

Removed

neo_simulation2 package removed.

Other

Various core improvements made during navigation testing.
smacc2::deep_history syntax introduced for slam_toolbox components.
Additional linting and formatting applied.
Merge markers removed from a Python file.

Contributors

Pablo Iñigo Blasco <pablo@ibrobotics.com>
Ubuntu 20-04-02-amd64 <brett@robosoft.ai>

```

Section_7

Added

First working version of sm template and template generator. (#127)
minor tweaks (#130)
Resolve compile warnings (#137)
Add SM core test (#138)
minor navigation improvements (#141)
using local action messages (#139)
added SVGs to READMEs of atomic, dance_bot, and others (#140)
added remaining SVGs to READMEs (#145)
Update package list. (#142)
Add SM Atomic SM generator. (#143)
Rolling Docker environment to be executed from any environment (#154)
Add QOS durability to SmaccPublisherClient (#163)
Feature/aws navigation sm dance bot (#174)
Waypoint Inputs (#178)
warehouse2 (#177)
finetuning waypoints (#187)
Feature/cb pure spinning (#188)

Changed

polishing sm_dance_bot and s-pattern
noticed typo “Finnaly” corrected to “Finally”
more refinement in sm_dance_bot
minor format issues (#134)
minor format issues (#180)
fixing some errors introduced on formatting
fixing some more linting warnings
updating format
fixing compiling issues
update readme (#164)
initial state machine transition timestamp (#165)
moved reference library SMs to smacc2_performance_tools (#166)
progress on moveit
fixing pipeline error
fixing broken master build
husky launch file in sm_dance_bot
Update dependencies for husky in rolling and galactic
more on aws demo
warehouse2 progress (#179)
SrConditional fixes and formatting (#168)

Fixed

build fix
waypoints navigator bug (#133)
fixing broken build

Removed

removing sm_dance_bot_msgs
removing parameters smacc
removing test from main moveit cmake
removing node creation and create only a logger

Co-authored-by

Ubuntu 20-04-02-amd64 <brett@robosoft.ai>
DecDury <declandury@gmail.com>
Denis Štogl <destogl@users.noreply.github.com>
Denis Štogl <denis@stogl.de>

```rst Section 8 =========

Added

Feature/planner changes 16 12 (#191)
Feature/replanning 16 dec (#193)
Feature/undo motion 20 12 (#196)
Feature/undo motion 20 12 (#198)
Feature/sync 21 12 (#199)
Feature/warehouse2 22 12 (#200)
Feature/warehouse2 23 12 (#201)
Feature/minor tune (#203)
Merging code from backport foxy and updates about autoware (#208)
Foxy backport (#206)
Add galactic CI build because Navigation2 is broken in rolling
Add partial changes for ament_cpplint
Add tf2_ros as dependency to find include
Create workflow for testing prerelease builds
Use docs/ as source folder for documentation
Use docs/ as output directory
Rename to smacc2 and smacc2_msgs
Execute on master update
Reset all versions to 0.0.0
Update changelogs
Revert “Ignore all packages except smacc2 and smacc2_msgs”
Update description table
Update table
Copy initial docs
Dockerfile w/ ROS distro as argument
Opened new folder for additional tracing contents
Moved tracing.md to tracing directory
Added setupTracing.sh
Removed manual installation of ros-rolling-ros2trace
Created alternative ManualTracing
Added a dockerfile for Rolling and Galactic
Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh
Update tracing/ManualTracing.md
Update smacc_sm_reference_library/sm_atomic/README.md

Changed

First ensure you have the necessary package installed
Rename header files and correct format
Change extension of imports
Correct GitHub branch reference
Update name of package and package.xml to pass liter
Correct wording “smacc application” to “SMACC2 library”

Fixed

Several fixes (#194)
Tuning warehouse3 (#197)
Fix trailing spaces
Correct codespell
Correct python linters warnings
Disable ament_cpplint
Disable some packages and update workflows
Bump ccache version
Ignore further packages
Satisfy ament_lint_cmake
Add missing licences
Disable cpplint and cppcheck linters
Correct formatters
Enable cppcheck
Correct formatting of python file
Reactivating smacc2 nav clients for rolling via submodules
Enable build of missing rolling repositories
Enable Navigation2 for semi-binary build

Removed

Delete tracing directory
Reverted markdowns to html
Additional cleanup
Cleanup
Edited tracing.md to reflect new tracing event names

Co-authored-by

Denis Štogl <denis@stogl.de>
Denis Štogl <destogl@users.noreply.github.com>
Declan Dury <44791484+DecDury@users.noreply.github.com>
DecDury <declandury@gmail.com>
reelrbtx <brett2@reelrobotics.com>
brettpac <brett@robosoft.ai>
David Revay <MrBlenny@users.noreply.github.com>

pabloinigoblasco ```

```rst Section_9 =========

Added

Added smacc2_performance_tools.
Added galactic CI setup and renamed rolling files. (#58)
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

Updated mentions of SMACC/ROS to SMACC2/ROS2.
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).
Corrected trailing spaces.
Optimized dependencies in move_base_z_planners_common.
Renamed event generator library.
Updated c_cpp_properties.json.
Updated README.md launch command.

Fixed

Do not execute clang-format on smacc2_sm_reference_library package.
Fixed source CI and corrected README overview. (#62).
Corrected all linters and formatters.

Removed

Removed galactic builds from master and kept only rolling.
Removed submodules and use .repos file.

Other

Some progress on navigation rolling.
More changes on performance tests.
Noticed a note that was not removed.
Minor formatting improvements.
Several core improvements during navigation testing.
Progress in aws navigation demo.
Progress in aws navigation.
Progressing in aws navigation.
Base for the sm_aws_aarehouse navigation.
More on performance and other issues.
More on navigation.
More Readme updates.
More Readme.
More on navigation.
More on navigation.
More on navigation.
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Contributors

Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
Co-authored-by: Denis Štogl <denis@stogl.de>

```

```rst Section_10 ==========

Added

New client behavior cb_wait_topic_message added for nav2. It allows waiting for nav2 nodes subscribing to the /bond topic and ensures they are alive. Nodes to wait for can be optionally selected.
New feature cb_pause_slam added for pausing SLAM functionality.
New feature sm_dance_bot_lite added for visualizing Turtlebot3 in Gazebo.
New feature sm_multi_stage_1 added for multi-stage functionality.

Changed

Progress made in AWS navigation demo.
Navigation parameters fixed for sm_dance_bot.
Formatting improvements made.
Gazebo fixes implemented to show the robot and lidar.

Fixed

Compile warnings removed.
Recursion issue fixed by moving a method after the one it calls.

Removed

neo_simulation2 package removed.

Other

Various core improvements made during navigation testing.
Precommit cleanup run performed.
Source build enabled on PR for testing.
Adjustments made to build packages of source CI.
Additional linting and formatting applied.
Merge markers removed from a Python file.
smacc2::deep_history syntax introduced for deep history functionality.
Testing progress made for sm_dance_bot with slam pausing/resuming functionality.
sm_dance_bot changes and fixes implemented.
sm_dance_bot_s_pattern feature added.

```

Section 11

Added

First working version of sm template and template generator. (#127)
Minor tweaks (#130)
Resolve compile warnings (#137)
Add SM core test (#138)
Minor navigation improvements (#141)
Using local action messages (#139)
Added SVGs to READMEs of atomic, dance_bot, and others (#140)
Added remaining SVGs to READMEs (#145)
Update package list. (#142)
Add SM Atomic SM generator. (#143)
Rolling Docker environment to be executed from any environment (#154)
Add QOS durability to SmaccPublisherClient (#163)
Feature/aws navigation sm dance bot (#174)
Waypoint Inputs (#178)
Warehouse2 (#177)
Finetuning waypoints (#187)
Feature/cb pure spinning (#188)
Feature/cb pure spinning (#189)

Changed

Polishing sm_dance_bot and s-pattern
Noticed typo “Finnaly” corrected to “Finally”
More changes in sm_dance_bot
More refinement in sm_dance_bot
Minor format issues (#134)
Minor tuning to mitigate overshot issue cases
Progress in the sm_dance_bot tests (#135)
Minor configuration
Fixing some errors introduced on formatting
Fixing some more linting warnings
Progress on move_it PR
Improving Dockerfile for building local tests
Fixing compiling issues
Moved reference library SMs to smacc2_performance_tools (#166)
Pre-commit cleanup
Finishing touches 1
Readme updates
More readme updates
Fix: Add a missing colon
Refactor: Remove line
Feat: Add reliability QoS config

Fixed

Waypoints navigator bug (#133)
Fix CI: Format fix python version (#148)
Remove node creation and create only a logger. (#149)
Fixing pipeline error
Fixing broken master build

Removed

Removing sm_dance_bot_msgs
Removing parameters smacc
Removing test from main moveit CMake
Removing parameters smacc
Removing test from main moveit CMake
Removing some comments in the past
Removing some comments in the past

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: Denis Štogl <denis@stogl.de>

```rst Section_12 ==========

Added

Feature/planner changes 16 12 (#191)
Feature/replanning 16 dec (#193)
Feature/undo motion 20 12 (#196)
Feature/undo motion 20 12 (#198)
Feature/sync 21 12 (#199)
Feature/warehouse2 22 12 (#200)
Feature/warehouse2 23 12 (#201)
Feature/minor tune (#203)
Fix rolling builds (#222)
Add Autoware Auto Msgs into not-released dependencies. (#220)
Add mergify rules file.
Try fixing CI for rolling. (#209)
Remove example things from Foxy CI setup. (#214)
Foxy backport (#206)
Fix trailing spaces.
Correct codespell.
Correct python linters warnings.
Add galactic CI build because Navigation2 is broken in rolling.
Add partial changes for ament_cpplint.
Add tf2_ros as dependency to find include.
Disable ament_cpplint.
Disable some packages and update workflows.
Bump ccache version.
Ignore further packages
Satisfy ament_lint_cmake
Add missing licences.
Disable cpplint and cppcheck linters.
Correct formatters.
Enable cppcheck
Correct formatting of python file.
Include necessary package and edit Threesome launch
Rename header files and correct format.
Add workflow for checking doc build.
Update doxygen-check-build.yml
Create doxygen-deploy.yml
Create workflow for testing prerelease builds
Rename to smacc2 and smacc2_msgs
Correct GitHub branch reference.
Update name of package and package.xml to pass liter.
Execute on master update
Reset all versions to 0.0.0
Update changelogs
Revert “Ignore all packages except smacc2 and smacc2_msgs”
Update description table.
Update table
Copy initial docs
Dockerfile w/ ROS distro as argument
Open new folder for additional tracing contents
Delete tracing directory
Move tracing.md to tracing directory
Add setupTracing.sh
Remove manual installation of ros-rolling-ros2trace
Create alternative ManualTracing
Add new sm markdowns
Add a dockerfile for Rolling and Galactic

Changed

Several fixes (#194)
Tuning warehouse3 (#197)
Fixing warehouse 3 problems, and other core improvements (#204)
Minor broken build
Some reordering fixes
Format issues
Finishing warehouse2
Minor formatting fixes

Fixed

Headless and other fixes
Default values
Pure spinning behavior missing files
Updating subscriber publisher components
Progress in autoware machine
Refining cp subscriber cp publisher
Improvements in smacc core adding more components mostly developed for autoware demo
Autoware demo
Fix minor linking errors foxy

Removed

Merge
Minor
More fixes
Missing
Missing sm
Foxy ci
Fix
Minor broken build

Co-authored-by

Denis Štogl <denis@stogl.de>
Denis Štogl <destogl@users.noreply.github.com>
Declan Dury <44791484+DecDury@users.noreply.github.com>
DecDury <declandury@gmail.com>
reelrbtx <brett2@reelrobotics.com>
brettpac <brett@robosoft.ai>
David Revay <MrBlenny@users.noreply.github.com>
pabloinigoblasco <pabloinigoblasco@ibrobotics.com>

```

```rst Section_13 ==========

Added

Reactivated smacc2 nav clients for rolling via submodules.
Added README tutorial for Dockerfile.
Added smacc2_performance_tools.
Added new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success.
Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. You optionally can select the nodes to wait.

Changed

Changed wording “smacc application” to “SMACC2 library”.
Updated mentions of SMACC/ROS to SMACC2/ROS2.
Renamed tracing events.
Renamed folders.
Renamed event generator library.
Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch.
Updated smacc2_rta command across readmes.
Optimized dependencies in move_base_z_planners_common.
Corrected trailing spaces.
Cleaned up sm_atomic_24hr.
Reformatted sm_reference_library.
Minor formatting improvements.

Fixed

Fixed bug in smacc2 component.
Fixed source CI and corrected README overview.
Fixed formatting in sm_advanced_recovery_1.
Corrected all linters and formatters.

Removed

Removed galactic builds from master and kept only rolling. Removed submodules and used .repos file.

Other

Enabled build of missing rolling repositories.
Enabled Navigation2 for semi-binary build.
Made some progress on navigation rolling.
Made progress in aws navigation demo.
Made several core improvements during navigation testing.
Made more changes on performance tests.
Made more sm_atomic_24hr cleanup.
Made more sm_advanced_recovery_1 work.
Made more sm_multi_stage_1 changes.
Made more progress in aws navigation.
Made more progress in aws navigation demo.
Attempted precommit fixes.
Corrected formatting.
Added galactic CI setup and renamed rolling files.
Updated doxygen links.
Updated c_cpp_properties.json.
Updated README.md.
Updated smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh.
Updated tracing/ManualTracing.md.
Updated smacc_sm_reference_library/sm_atomic/README.md.
Reverted markdowns to html.
Edited tracing.md to reflect new tracing event names.
Edited README.md.
Edited sm_atomic_performance_trace_1.
Edited sm_atomic_performance_test_a_2.
Edited sm_atomic_performance_test_c_1.
Edited sm_respira_1 format cleanup.
Edited sm_respira_test_2.
Edited sm_respira_1 format cleanup pre-commit.
Edited sm_atomic_24hr.
Edited sm_atomic_performance_test_a_1.
Edited sm_atomic_performance_test_a_2.
Edited sm_multi_stage_1.
Edited sm_advanced_recovery_1.
Edited sm_advanced_recovery_1 reworked.
Edited sm_advanced_recovery_1 round 4.
Edited sm_atomic_performance_test_c_1.
Edited sm_atomic_performance_test_a_2.
Edited sm_multi_stage_1.
Edited sm_atomic_performance_test_a_1.
Edited sm_atomic_performance_test_a_2.
Edited sm_atomic_performance_test_c_1.
Edited sm_multi_stage_1.
Edited sm_aws_aarehouse navigation.
Edited sm_advanced_recovery_1.
Edited sm_advanced_recovery_1 reworked.
Edited sm_advanced_recovery_1 round 4.
Edited sm_atomic_performance_test_a_2.
Edited sm_atomic_performance_test_a_1.
Edited sm_atomic_performance_test_c_1.
Edited sm_multi_stage_1.
Edited wait topic message client behavior.
Edited wait nav2 nodes client behavior.

```

```rst Section_14 ==========

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: Waits for nav2 nodes subscribing to the /bond topic and ensures they are alive. Optional selection of nodes to wait for.
Base for the sm_aws_warehouse navigation.
cb_pause_slam client behavior.
sm_dance_bot_lite feature.
Visualizing turtlebot3 in sm_dance_bot.
dance_bot launch gz lidar choice feature.
sm_dance_bot_strikes_back gazebo fixes.
AWS demo improvements.
sm_multi_stage_1 doubling feature.
sm_multi_stage_1 improvements.
neo_simulation2 package removal.
Source build enabled on PR for testing.
Build packages adjustment for source CI.
Diverse improvements in navigation and performance.

Changed

Minor formatting improvements.
Navigation parameters fixes on sm_dance_bot.
Format fixes for gazebo to show the robot and the lidar.

Fixed

Removed some compile warnings.

Removed

Removed neo_simulation2 package.

Contributors

Co-authored by Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.

```

# Section 15

## Added

Feature/diverse improvements in navigation performance (#117)
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.
First working version of sm template and template generator (#127)
Added SM Atomic SM generator (#143)
Rolling Docker environment to be executed from any environment (#154)
Added SVGs to READMEs of atomic, dance_bot, and others (#140)
Added remaining SVGs to READMEs (#145)
Added QOS durability to SmaccPublisherClient (#163)
Feature/aws navigation sm dance bot (#174): Progress on aws navigation, refactorings on navigation clients and behaviors.

## Changed

Move method after the method it calls to prevent recursion (#126)
Moved reference library SMs to smacc2_performance_tools (#166)
Renamed sm_advanced_recovery_1 (#171)
Reworked sm_multi_stage_1 (#172): Multistage modes, sequences, steps, and finishing touches.

## Fixed

Minor tuning to mitigate overshot issue cases in waypoints navigator (#133)
Fix CI: format fix python version (#148)
Update package list (#142)
Removed node creation and create only a logger (#149)
Fixed compiling issues in docker environment (#164)
Fixed broken master build in testing moveit behaviors (#167)
Fixed broken build in aws navigation progress (#174)

## Removed

Removed merge markers from a python file (#119)
Removed parameters smacc (#147)
Removed sm_dance_bot_msgs (#144)

## Authors

Co-authored-by: pabloinigoblasco <pablo@ibrobotics.com>
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: Denis Štogl <denis@stogl.de>

```rst Section_16 ==========

Added

Brettpac branch (#184)
Redoing sm_dance_bot_warehouse_3 waypoints
More Waypoints
SrConditional fixes and formatting (#168)
Feature/wharehouse2 dec 14 (#185)
Feature/sm warehouse 2 13 dec 2 (#186)
Finetuning waypoints (#187)
Feature/cb pure spinning (#188, #189)
Pure spinning behavior missing files
Feature/planner changes 16 12 (#191)
Feature/replanning 16 dec (#193)
Several fixes (#194)
Minor changes (#195)
Feature/undo motion 20 12 (#196, #198)
Improving undo motion navigation warehouse2
Tuning warehouse3 (#197)
Feature/sync 21 12 (#199)
Feature/warehouse2 22 12 (#200)
Finishing warehouse2
Feature/warehouse2 23 12 (#201)
Tuning and fixes (#202)
Feature/minor tune (#203)
Fixing warehouse 3 problems, and other core improvements (#204)
Added missing file from warehouse2 (#205)
Docker build files for all versions (#225)
Feature/retry behavior warehouse 1 (#226)
Foxy backport (#206)
Fix code generators (#221)
Fix other build issues
Update SM template and make example code clearly visible
Remove use of node in the sm performance template
Updated templated to use Blackboard storage
Update template to resolve the global data correctly
Update sm_name.hpp
Fix trailing spaces
Correct codespell
Correct python linters warnings
Add galactic CI build because Navigation2 is broken in rolling
Add partial changes for ament_cpplint
Add tf2_ros as dependency to find include
Disable ament_cpplint
Disable some packages and update workflows
Bump ccache version
Ignore further packages
Satisfy ament_lint_cmake
Add missing licences
Disable cpplint and cppcheck linters
Correct formatters
Branching example
Disable disabled packages
Update ci-build-source.yml
Change extension of imports
Enable cppcheck
Correct formatting of python file
Included necessary package and edited Threesome launch
Rename header files and correct format
Add workflow for checking doc build
Update doxygen-check-build.yml
Create doxygen-deploy.yml
Use manual deployment for now
Create workflow for testing prerelease builds
Use docs/ as source folder for documentation
Use docs/ as output directory
Rename to smacc2 and smacc2_msgs
Correct GitHub branch reference
Update name of package and package.xml to pass liter
Execute on master update
Reset all versions to 0.0.0
Ignore all packages except smacc2 and smacc2_msgs
Update changelogs
0.1.0

Changed

ros2 launch sm_three_some sm_three_some to ros2 launch sm_three_some sm_three_some.launch

Removed

First ensure you have the necessary package installed
` sudo apt-get install ros-rolling-ros2trace `

```

pabloinigoblasco

```rst Section_17 ==========

Added

Added setupTracing.sh script to install necessary packages and configure tracing group.
Added README tutorial for Dockerfile.
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 sm_multi_stage_1 package.

Changed

Changed wording from “smacc application” to “SMACC2 library”.
Updated mentions of SMACC/ROS to SMACC2/ROS2.
Renamed event generator library.
Optimized dependencies in move_base_z_planners_common.
Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch.

Fixed

Fixed bug in smacc2 component.
Fixed source CI and corrected README overview.
Fixed trailing spaces.
Fixed formatting in various packages.
Fixed pre-commit issues in multiple packages.

Removed

Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh.
Removed galactic builds, keeping only rolling. Removed submodules and use .repos file.

Other

Reverted markdowns to HTML format.
Reactivated smacc2 nav clients for rolling via submodules.
Cleaned up tracing.md to reflect new tracing event names.
Enabled build of missing rolling repositories.
Enabled Navigation2 for semi-binary build.
Made progress on navigation rolling.
Various performance tests improvements.
Continued work on AWS navigation demo.
More changes and improvements in navigation testing.
Attempted pre-commit fixes in multiple packages.

```

pabloinigoblasco

```rst Section_18 ==========

Added

Introduce new feature cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally verifies its contents for success.
Implement new client behavior for nav2, add, to wait for nav2 nodes subscribing to the /bond topic and ensure they are alive. Optionally select nodes to wait for.
Add base for the sm_aws_aarehouse navigation.
Introduce cb_pause_slam client behavior.

Changed

Correct all linters and formatters.
Minor formatting improvements.
Navigation parameters fixes on sm_dance_bot.
Minor hotfix.
Cleaning and lidar show/hide option for sm_dance_bot visualizing turtlebot3.
Gazebo fixes to show the robot and the lidar.
Format fixes for sm_multi_stage_1 and sm_dance_bot_strikes_back.

Fixed

Remove some compile warnings.

Removed

Eliminate redundant entries.

Collaborators

Co-authored-by: Denis Štogl <denis@stogl.de>
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>

Commits

Feature/aws demo progress (#92)
Feature/sm dance bot fixes (#93)
Feature/sm aws warehouse (#94)
Feature/sm dance bot fixes (#95)
Remove some compile warnings. (#96)
Feature/cb pause slam (#98)
sm_dance_bot_lite (#99)
Rename doxygen deployment workflow (#100)
sm_dance_bot visualizing turtlebot3 (#101)
Feature/dance bot launch gz lidar choice (#102)
Feature/sm dance bot lite gazebo fixes (#104)
sm_multi_stage_1 doubling (#103)
Feature/sm dance bot strikes back gazebo fixes (#105)
precommit cleanup run (#106)
aws demo (#108)
Brettpac branch (#110)
Brettpac branch (#111)

```

Section_19

Added

Added multistage modes to sm_multi_stage_1.
Added sequences to sm_multi_stage_1.
Added steps to sm_multi_stage_1.
Added finishing touches to sm_multi_stage_1.
Added AWS navigation to sm_dance_bot.

Changed

Reworked sm_multi_stage_1 with new sequences and steps.

Fixed

Fixed waypoint 4 and iterations for robot course completion.
Fixed CI format for Python version.

Removed

Removed neo_simulation2 package.
Removed node creation in favor of logger.
Removed parameters from smacc.
Removed test from main MoveIt CMake.

Other

Co-authored with Ubuntu 20-04-02-amd64 <brett@robosoft.ai>, DecDury <declandury@gmail.com>, Denis Štogl <destogl@users.noreply.github.com>, and pabloinigoblasco <pablo@ibrobotics.com>.
Various minor improvements and fixes throughout.

```rst Section_20 ==========

Added

Update dependencies for husky in rolling and galactic.
Progress on aws navigation and refactorings on navigation clients and behaviors.
More on aws demo.
Warehouse2 progress.
Waypoint Inputs.
Warehouse2 progress.
Format.
Sm_dance_bot_warehouse_3.
Feature/sm warehouse 2 13 dec 2.
More changes and headless.
Merge.
Headless and other fixes.
Default values.
Brettpac branch.
Redoing sm_dance_bot_warehouse_3 waypoints.
More Waypoints.
SrConditional fixes and formatting.
Move trigger logic into headers.
Lint.
Feature/wharehouse2 dec 14.
Feature/sm warehouse 2 13 dec 2.
Finetuning waypoints.
Feature/cb pure spinning.
Pure spinning behavior missing files.
Feature/planner changes 16 12.
Feature/replanning 16 dec.
Replanning for all examples.
Several fixes.
Feature/undo motion 20 12.
Improving undo motion navigation warehouse2.
Tuning warehouse3.
Feature/sync 21 12.
Format issues.
Feature/warehouse2 22 12.
Finishing warehouse2.
Feature/warehouse2 23 12.
Tuning and fixes.
Feature/minor tune.
Fixing warehouse 3 problems and other core improvements.
Added missing file from warehouse2.
Updating subscriber publisher components.
Progress in autoware machine.
Refining cp subscriber cp publisher.
Improvements in smacc core adding more components.
Autoware demo.
Fixing docker for foxy and galactic.
Update file for fake hardware simulation and add file for gazebo simulation.
Retry behavior warehouse 1.
Multiple controllable leds plugin.
Progress in husky demo.
Add ignition file and update repos files.
Improving navigation behaviors.
Add galactic CI build because Navigation2 is broken in rolling.
Add partial changes for ament_cpplint.
Add tf2_ros as dependency to find include.

Changed

Fix formatting.
Minor changes.
Format.
Minor tune.
Minor format.
Minor linking errors foxy.
Fix trailing spaces.
Correct codespell.
Correct python linters warnings.
Only rolling version should be pre-released on master.
Correct Focal-Rolling builds by fixing the version of rosdep yaml.

Fixed

Fixing broken build.
Fix broken source build.
Fixing format and minor.
Fixing startup problems in warehouse 3.

Removed

Weird moveit not downloaded repo.
Missing sm.
Missing.
Foxy CI.
Minor broken build.
Some reordering fixes.
Docker files for different revisions, warnings removal and more testing on navigation.
Missing file.
Other minor changes.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor.
Minor

```rst Section_21 ==========

Added

First ensure you have the necessary package installed: ` sudo apt-get install ros-rolling-ros2trace `
Add workflow for checking doc build.
Create doxygen-deploy.yml.
Create workflow for testing prerelease builds.
Use docs/ as source folder and output directory for documentation.
Added setupTracing.sh: Installs necessary packages and configures tracing group.
Created alternative ManualTracing.
Added new sm markdowns.
Added a dockerfile for Rolling and Galactic.

Changed

Rename header files and correct format.
Change extension of imports.
Correct GitHub branch reference.
Update name of package and package.xml to pass liter.
Update description table.
Update table.
Update smacc2_rta command across readmes.
Clean up of sm_atomic_24hr.
Optimized deps in move_base_z_planners_common.
Renaming of event generator library.
Minor formatting.
Fix source CI and correct README overview.
Update c_cpp_properties.json.
Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch.
Update doxygen links.
More Readme Updates.
More Readme.
Feature/core and navigation fixes.
Feature/aws demo progress.
More on navigation.
sm_advanced_recovery_1 reworked.
Trying to fix Pre-Commit.
More sm_advanced_recovery_1 work.
sm_advanced_recovery_1 round 4.
Brettpac branch.
sm_atomic_performance_test_a_2.
sm_atomic_performance_test_a_1.
sm_atomic_performance_test_c_1.

Fixed

Correct formatters.
Correct formatting of python file.
Correct trailing spaces.
Bug in smacc2 component.

Removed

Disable ament_cpplint.
Disable some packages and update workflows.
Disable cpplint and cppcheck linters.
Disable disabled packages.
Disable further packages.
Ignore all packages except smacc2 and smacc2_msgs.
Remove galactic builds from master and keep only rolling. Remove submodules and use .repos file.
Do not execute clang-format on smacc2_sm_reference_library package.

Authors

Pablo Iñigo Blasco
Denis Štogl <destogl@users.noreply.github.com>
Ubuntu 20-04-02-amd64 <brett@robosoft.ai>

```

```rst Section_22 ==========

Added

New feature: cb_wait_topic_message, an asynchronous client behavior that waits for a topic message and optionally checks its contents for success.
New client behavior for nav2: wait for nav2 nodes subscribing to the /bond topic and waiting for them to be alive, with optional node selection.
New client behavior: cb_pause_slam for pausing SLAM functionality.
New feature: sm_dance_bot_lite.

Changed

Updated launch command.
Corrected all linters and formatters.
Navigation parameters fixes on sm_dance_bot.
Minor format improvements.
Merge and progress in AWS navigation demo.
Fix format in various places.
Minor hotfix.
Visualizing TurtleBot3 in sm_dance_bot.

Fixed

Fixed compile warnings.

Removed

Removed some compile warnings.

Contributors

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_23

Added

Added sm_dance_bot feature to visualize turtlebot3.
Added option to show/hide cleaning and lidar.
Added gazebo fixes for sm_dance_bot_lite (#104).
Added gazebo fixes to display the robot and lidar.
Added sm_multi_stage_1 doubling (#103).
Added aws demo feature (#108).
Added Brettpac branch (#110).
Added 5th stage to sm_multi_stage_1.
Added a3 feature (#113).
Added diverse improvements for navigation and performance (#116).
Added slam toggle and smacc deep history feature (#122).
Added dance bot s pattern feature (#128).
Added waypoints navigator bug fix (#133).
Added SM core test (#138).
Added minor navigation improvements (#141).
Added rolling Docker environment for execution in any environment (#154).
Added migration moveit client feature (#151).

Changed

Changed launch command in README.md for sm_dance_bot_strikes_back.
Changed format for CI in Fix CI (#148).

Fixed

Fixed recursion issue by moving method after the one it calls (#126).
Fixed overshot issue cases in waypoints navigator.
Fixed format issues in minor format issues (#134).
Fixed compile warnings in Resolve compile warnings (#137).
Fixed node creation to only create a logger in Remove node creation (#149).

Removed

Removed neo_simulation2 package (#112).
Removed sm_dance_bot_msgs package.
Removed parameters in smacc (#147).
Removed test from main moveit cmake.
Removed some comments in README.md.

Authors

Pablo Iñigo Blasco (pabloinigoblasco)
Brett <brett@robosoft.ai>
DecDury <declandury@gmail.com>
Denis Štogl <destogl@users.noreply.github.com>

Section_24

Added

Add QOS durability to SmaccPublisherClient (#163)
Feature/testing moveit behaviors (#167)
Feature/aws navigation sm dance bot (#174)
Feature/sm warehouse 2 13 dec 2 (#182)
Feature/cb pure spinning (#188)
Feature/planner changes 16 12 (#191)
Feature/replanning 16 dec (#193)
Feature/undo motion 20 12 (#196)
Feature/sync 21 12 (#199)
Feature/warehouse2 22 12 (#200)
Feature/warehouse2 23 12 (#201)
Feature/minor tune (#203)

Changed

Moved reference library SMs to smacc2_performance_tools (#166)
Added reliability qos config
Finishing touches 1
Redoing sm_dance_bot_warehouse_3 waypoints
Improving undo motion navigation warehouse2
Tuning warehouse3
Fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green

Fixed

Add a missing colon
Fixing pipeline error
Fixing broken master build
Fixing broken build
Fixing broken build
Fixing broken build
Fixing broken build
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Section_25

Added: - Docker improvements. - Runtime dependency. - Restored UR dependency.

Changed: - Updated Galactic repositories.

Fixed: - Fixed build.

Removed: - None.

Other Changes: - Merged additional changes. - Master branch now rolling to Galactic backport. - Tested Dance Bot demos.

Contributors: Denis Štogl, Pablo Iñigo Blasco, pabloinigoblasco.

Co-authored-by: reelrbtx <brett2@reelrobotics.com> Co-authored-by: brettpac <brett@robosoft.ai> Co-authored-by: David Revay <MrBlenny@users.noreply.github.com> Co-authored-by: pabloinigoblasco <pabloinigoblasco@ibrobotics.com> Co-authored-by: DecDury <declandury@gmail.com> Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com>