README

State Machine Diagram

Description

A full-featured state machine example, that highlights the capabilities of SMACC2 & the ROS2 Navigation Stack via the MoveBaseZ Client. .

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…

ros2 launch sm_dance_bot_warehouse_4 sm_dance_bot_warehouse_4_launch.py

Headless launch

Alternatively, you can also launch the gazebo simulator in headless mode:

ros2 launch sm_dance_bot_warehouse_4 sm_dance_bot_warehouse_4_launch.py headless:=True

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.