ROS Index
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sm_coretest_action_client_1 at Robotics Stack Exchange
Package Summary
| Version | 3.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/robosoft-ai/SMACC2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-11-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Brett Aldrich
Authors
sm_coretest_action_client_1
Core test for the action client component (CpActionClient) and the action behavior base
(CbActionClientBehaviorBase), with no simulator. It is not a reference state machine; it exists so
the code every Nav2 and MoveIt behavior is built on runs under the sanitizers.
What it does
OrAction holds a Fibonacci action server on the state machine’s own node (CpFibonacciServer) and
two action client components of the same action type, told apart by name: server, aimed at that
server, and no_server, aimed at an action nothing serves. Five states follow each other, one per
outcome of a goal:
| State | Goal | What must happen | Next |
|---|---|---|---|
StSuccess |
order 5 | five feedback messages, then success: EvCbSuccess
|
StRejected |
StRejected |
order 13 | the server rejects it; sendGoal posts EvCbFailure
|
StAborted |
StAborted |
order 21 | accepted, aborted after two steps: EvCbFailure
|
StNoServer |
StNoServer |
through no_server
|
no server; sendGoal posts EvCbFailure without waiting |
StCancelled |
StCancelled |
order 1000, against a 500 ms timer | the state exits with the goal in flight and the behavior’s onExit cancels it |
StSuccess |
Each state sends the outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.
StSuccess follows StCancelled on purpose. The cancelled goal’s result reaches the client about
100 ms after StSuccess has sent its own goal through the same component. Two things must hold, and
the test found both broken:
- the cancellation must stop only the goal it was meant for, not the next state’s goal;
- the cancelled goal’s result must not be taken for the result of the next state’s goal.
Run
ros2 launch sm_coretest_action_client_1 sm_coretest_action_client_1.launch.py
The launch file tees the node output to /tmp/sm_coretest_action_client_1_latest.log.
In the gate
.github/scripts/sanitizer_core_tests.sh runs the machine for 20 s under TSan, ASan and a plain
build, then interrupts it at five random moments. It fails if the machine completes fewer than five
cycles, if StTrap is entered, if any outcome’s count is not within one of the cycle count, if a run
ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.