Skip to content
/ SMACC2 Public
forked from robosoft-ai/SMACC2

An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS2 (Robotic Operating System) applications written in C++

smacc.dev

License

Apache-2.0 license
0 stars 39 forks Branches Tags Activity
Star
Notifications You must be signed in to change notification settings

TAlscher/SMACC2

BranchesTags
 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

393 Commits
.github
.github
 
 
.vscode
.vscode
 
 
smacc2
smacc2
 
 
smacc2_ci
smacc2_ci
 
 
smacc2_client_library
smacc2_client_library
 
 
smacc2_event_generator_library
smacc2_event_generator_library
 
 
smacc2_msgs
smacc2_msgs
 
 
smacc2_performance_tools/tracing_tools
smacc2_performance_tools/tracing_tools
 
 
smacc2_sm_reference_library
smacc2_sm_reference_library
 
 
smacc2_state_reactor_library
smacc2_state_reactor_library
 
 
.clang-format
.clang-format
 
 
.codespell-ignore-words.txt
.codespell-ignore-words.txt
 
 
.gitignore
.gitignore
 
 
.pre-commit-config.yaml
.pre-commit-config.yaml
 
 
CONTRIBUTING.md
CONTRIBUTING.md
 
 
LICENSE
LICENSE
 
 
README.md
README.md
 
 
SMACC2-not-released.galactic.repos
SMACC2-not-released.galactic.repos
 
 
SMACC2-not-released.rolling.repos
SMACC2-not-released.rolling.repos
 
 
SMACC2.repos
SMACC2.repos
 
 
setup_build.sh
setup_build.sh
 
 

Repository files navigation

SMACC2

A state-machine framework for ROS2-based applications written in C++.

Repository Status, Packages and Documentation

ROS2 Distro Branch Build status Documentation Released packages
Galactic galactic Galactic Binary Build
Galactic Semi-B Build
Galactic Source Build		 Doxygen Deployment
Generated Doc		 smacc2
smacc2_msgs
Rolling rolling Rolling Binary Build
Rolling Semi-B Build
Rolling Source Build		 Doxygen Deployment
Generated Doc		 smacc2
smacc2_msgs

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/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/SMACC2.repos

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

Repository Structure

  • smacc2 - core library of SMACC2.
  • smacc2_ci - ...
  • smacc2_client_library - client libraries for SMACC2, e.g., Navigation2 (nav2z_client), MoveIt2 (move_group_interface_client).
  • smacc2_event_generators - ...
  • smacc2_msgs - ROS2 messages for SMACC2 framework.
  • smacc2_sm_reference_library - libraries with reference implementations of state-machines used for demonstaration and testing of functionalities.
  • ↓smacc2_state_reactor_library - ...
  • smacc2_performance_tools - ...

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

  3. Create a new ROS2 workspace:

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

  4. Pull relevant packages, install dependencies, compile, and source the workspace by using