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 built the project don’t forget to setup your environment: First source the gazebo setup via

source /opt/ros/humble/share/gazebo_ros/local_setup.bash

Then source the proper workspace…

source ~/workspace/humble_ws/install/setup.sh

And then run the launch file…

ros2 launch sm_panda_moveit2z_cb_inventory sm_panda_moveit2z_cb_inventory.launch.py

If the simulation is not starting up properly check if your GAZEBO_RESOURCE_PATH is set correctly (echo $GAZEBO_RESOURCE_PATH). Otherwise simply set it with:

export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-<your_gazebo_version>/

Note: Sometimes the Gazebo server is not shutdown correctly. If you cannot restart the simulation you might have to look if there is still a instance of the server (gzserver) running. You then have to end it manually. Or just run:

killall -9 gzserver

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

Changelog for package sm_panda_moveit2z_cb_inventory

2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} repository - Brettpac branch (#518) - Attempted fix for ros buildfarm issue - Further work on buildfarm problem - Co-authored-by: brettpac <<brettpac@pop-os.localdomain>> - Contributors: brettpac, pabloinigoblasco

2.3.6 (2023-03-12)

1.22.1 (2022-11-09)

### Added - Pre-release - Contributors: pabloinigoblasco

### Changed - Improved navigation client behaviors and husky barrel demo (#311) - Enhanced navigation client behaviors and husky barrel demo - Various improvements in action client and cb sequence for husky barrel search - Added more and better navigation behaviors for husky barrel search demo - Functionality enhancements in navigation and warehouse 3 - Format improvements - Initial fixing of single UR sim. (#302) - Updated repos files and README.md for gazebo simulation of UR5 - Fixed formatting - Python flake formatting fixes - Co-authored-by: Manuel M <<mamueluth@gmail.com>> - Feature/multi UR5 sim (#290) - Removed galactic builds from master and kept only rolling - Updated mentions of SMACC/ROS to SMACC2/ROS2 - Progress on navigation rolling - Renamed folders, deleted tracing.md, edited README.md - Added smacc2_performance_tools - Performance tests improvements - Format cleanup for sm_respira_1 - More performance and other issues - Format cleanup for sm_respira_test_2 - Do not execute clang-format on smacc2_sm_reference_library package - Reformatting for sm_reference_library - Corrected trailing spaces - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - Minor formatting - Added galactic CI setup and renamed rolling files (#58) - Fixed source CI and corrected README overview (#62) - Updated c_cpp_properties.json - Changed launch command to [ros2 launch sm_respira_1 sm_respira_1.launch]{.title-ref} (#69) - Updated doxygen links (#70) - More Readme Updates (#72) - More Readme (#74) - Created new sm from sm_respira_1 (#76) - Feature/core and navigation fixes (#78) - Progress in aws navigation demo - Several core improvements during navigation testing - Format improvements - Feature/aws demo progress (#80) - More on navigation - Reworked sm_advanced_recovery_1 (#83) - More sm_advanced_recovery_1 work (#85) - Round 4 of sm_advanced_recovery_1 (#86) - More sm_advanced_recovery_1 (#84) - Sm_atomic_performance_test_c_1 (#88) - Modifying sm_atomic_performance_test_a_2 (#89) - Sm_multi_stage_1 (#90) - More sm_multi_stage_1 (#91) - Update README.md - Wait topic message client behavior (#81) - New feature, cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - Attempting precommit fixes - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>> - Co-authored-by: Denis Štogl <<destogl@users.noreply.github.com>> - Feature/wait nav2 nodes client behavior (#82) - New feature, cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally checks its contents for success - Adding 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 - Corrected all linters and formatters

0.1.0 (Unreleased)

• Ensure ros-rolling-ros2trace package is installed before running.
• Renamed header files and corrected format.
• Added workflows for doc build checking.
• Updated doxygen-check-build.yml.
• Created doxygen-deploy.yml.
• Implemented manual deployment.
• Added workflow for testing prerelease builds.
• Used 'docs/' as source and output directory for documentation.
• Renamed packages to smacc2 and smacc2_msgs.
• Updated GitHub branch reference.
• Updated package name and package.xml.
• Reset all versions to 0.0.0.
• Ignored all packages except smacc2 and smacc2_msgs.
• Updated changelogs.
• Reverted commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61.
• Updated description table.
• Updated table.
• Copied initial docs.
• Added Dockerfile with ROS distro as argument.
• Opened new folder for tracing contents.
• Deleted tracing directory.
• Moved tracing.md to tracing directory.
• Added setupTracing.sh for installing necessary packages and configuring tracing group.
• Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh.
• Created alternative ManualTracing.
• Added new sm markdowns.
• Added Dockerfile for Rolling and Galactic.
• Co-authored by Denis Štogl.
• Changed wording from "smacc application" to "SMACC2 library".
• Edited README from html to markdown syntax.
• Reactivated smacc2 nav clients for rolling via submodules.
• Renamed tracing events.
• Fixed bug in smacc2 component.
• Reverted markdowns to html.
• Added README tutorial for Dockerfile.

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