CHANGELOG

Changelog for package sm_atomic

Version 2.3.16 (2023-07-16)

### Added - Merged branch ‘humble’ from robosoft-ai/SMACC2 repository. - Brettpac branch (#518)

Attempted fixes for ros buildfarm issue.

### Contributors - brettpac - pabloinigoblasco

Version 2.3.6 (2023-03-12)

No significant changes.

Version 1.22.1 (2022-11-09)

### Added - Pre-release.

### Contributors - pabloinigoblasco

Version 0.3.0 (2022-04-04)

No significant changes.

Version 0.0.0 (2022-11-09)

### Added - Reverted commit dec14a936a877b2ef722a6a32f1bf3df09312542. - Ignored packages not to be released. - Feature/master rolling to galactic backport (#236)

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.

Optimized dependencies in move_base_z_planners_common.

Renamed event generator library.

Added galactic CI setup and renamed rolling files.

Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch.

Created new sm from sm_respira_1.

Several core improvements during navigation testing.

New feature, cb_wait_topic_message: asynchronous client behavior.

Added new client behavior for nav2, wait nav2 nodes subscribing to the /bond topic.

Corrected all linters and formatters.

### Contributors - pabloinigoblasco - brettpac - 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: add behavior waits for nav2 nodes subscribing to the /bond topic and ensures they are alive; optional node selection available
Progress in AWS navigation demo
Base for the sm_aws_warehouse navigation
Navigation parameters fixes on sm_dance_bot
New client behavior: cb_pause_slam
sm_dance_bot_lite visualizing TurtleBot3
sm_multi_stage_1 doubling
sm_dance_bot_strikes_back gazebo fixes
AWS demo improvements
sm_multi_stage_1 enhancements
Diverse improvements in navigation and performance

Changed

Minor formatting improvements
Merge and progress in development
Hotfix for minor issues
Cleaning and lidar show/hide option in sm_dance_bot
Gazebo fixes to show the robot and lidar

Removed

Removed some compile warnings
Removed neo_simulation2 package

Fixed

Corrected formatting issues
Adjusted build packages for source CI
Fixed various issues in navigation testing

Collaborators

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

```

pabloinigoblasco

## Section_3

### Added - Feature/diverse improvements in navigation performance (#117) - Feature/slam toggle and smacc deep history (#122) - First working version of sm template and template generator (#127) - 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)

### Changed - Move method after the method it calls to prevent recursion (#126) - Moved reference library SMs to smacc2_performance_tools (#166)

### Fixed - Resolve compile warnings (#137) - Fix CI: format fix python version (#148)

### Removed - Remove merge markers from a python file (#119) - Remove node creation and create only a logger (#149) - Removing parameters smacc (#147) - Removing sm_dance_bot_msgs

### Miscellaneous - Minor linting and formatting improvements - Minor format tweaks - Minor navigation improvements - Minor tuning to mitigate overshot issue cases - Update package list (#142) - Noticed launch command was incorrect in README.md, fixed launch command for sm_dance_bot_strikes_back and removed some comments - Update READMEs with added SVGs for atomic, dance_bot, and others - Warehouse2 progress (#179) - Format improvements - Headless and other fixes

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>

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

Added

Default values for various features.
BrettPac branch (#184).
Redoing waypoints for sm_dance_bot_warehouse_3.
More waypoints added.
SrConditional fixes and formatting (#168).
Warehouse2 feature added on Dec 14 (#185).
Feature for sm warehouse 2 on Dec 13 (#186).
Finetuning waypoints (#187).
Pure spinning behavior with missing files.
Minor changes for planner on Dec 16 (#191).
Undo motion feature on Dec 20 (#196, #198).
Sync feature on Dec 21 (#199).
Warehouse2 features on Dec 22 (#200) and Dec 23 (#201).
Minor tune feature (#203).
Fixes and improvements for warehouse 3 (#204).
Backport to Foxy (#206).

Changed

Various formatting fixes.
Trailing spaces fixed.
Codespell corrections.
Python linters warnings corrected.
CI build added for Galactic due to Navigation2 issues in Rolling.
Partial changes for ament_cpplint added.
Dependency tf2_ros included for finding includes.
Several linters disabled/enabled and updated.
ccache version bumped.
Formatters corrected.
Branching example added.
Extension changes for imports.
cppcheck enabled.
Python file formatting corrected.
Necessary package included and Threesome launch edited.

Removed

Manual installation of ros-rolling-ros2trace.
Tracing directory deleted.
ManualTracing alternative removed.

Fixed

Deadlock issues in warehouse 3 resolved.
Moveit repository download issue fixed.
Missing file added for warehouse2.

Authors

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

```

```rst Section 5 =========

Added

Added smacc2_performance_tools for performance testing.
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. Optionally select the nodes to wait.

Changed

Renamed folders, deleted tracing.md, and edited README.md.
Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69).
Updated c_cpp_properties.json.
Corrected trailing spaces.
Optimized dependencies in move_base_z_planners_common.
Renamed event generator library.
Corrected all linters and formatters.

Fixed

Do not execute clang-format on smacc2_sm_reference_library package.
Fixed source CI and corrected README overview. (#62).
Fixed pre-commit issues in various packages.

Removed

Removed redundant note in the documentation.

Contributors

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

```

Section_6

Added

Feature/sm aws warehouse (#94) - Base for the sm_aws_warehouse navigation - Progress in AWS navigation - Several core improvements during navigation testing - Formatting improvements - Progress in AWS navigation demo - 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, waiting for Nav2 nodes subscribing to the /bond topic and ensuring they are alive - Navigation parameters fixes on sm_dance_bot
Feature/sm dance bot fixes (#95) - Navigation parameters fixes on sm_dance_bot
Feature/cb pause slam (#98) - Navigation parameters fixes on sm_dance_bot - CB pause slam client behavior
sm_dance_bot_lite (#99) - Precommit - Updates yaml
Rename doxygen deployment workflow (#100)
sm_dance_bot visualizing turtlebot3 (#101) - Cleaning and lidar show/hide option - Cleaning files and fixing formatting
Feature/dance bot launch gz lidar choice (#102) - Cleaning and lidar show/hide option - Cleaning files and fixing formatting
Feature/sm dance bot lite gazebo fixes (#104) - Cleaning and lidar show/hide option - Cleaning files and fixing formatting - Gazebo fixes to show the robot and the lidar
Feature/sm dance bot strikes back gazebo fixes (#105) - Cleaning and lidar show/hide option - Cleaning files and fixing formatting - Gazebo fixes to show the robot and the lidar - Gazebo fixes for sm_dance_bot_strikes_back
Precommit cleanup run (#106)
AWS demo (#108)
Brettpac branch (#110) - Got sm_multi_stage_1 working - Gaining traction sm_multi_stage_1
Brettpac branch (#111) - Got sm_multi_stage_1 working - Gaining traction sm_multi_stage_1 - More stages
a3 (#113)
Remove neo_simulation2 package. (#112) - Correct formatting - Enable source build on PR for testing - Adjust build packages of source CI
mm (#115)
Diverse improvements navigation and performance (#116) - Additional linting and formatting
Feature/diverse improvements navigation performance (#117) - Additional linting and formatting
Remove merge markers from a Python file. (#119)
Feature/slam toggle and smacc deep history (#122) - Progress in navigation, slam toggle client behaviors, and slam_toolbox components - Introducing slam pausing/resuming functionality in sm_dance_bot - Feature/more_sm_dance_bot_fixes
Move method after the method it calls. Otherwise, recursion could happen. (#126)
Feature/dance bot s pattern (#128) - Polishing sm_dance_bot and s-pattern - Noticed typo - Finally > Finally
Feature/dance bot s pattern (#129) - Polishing sm_dance_bot and s-pattern - More refinement in sm_dance_bot

Section_7

Added

First working version of sm template and template generator. (#127)
Feature/sm dance bot refine (#131)
Feature/sm dance bot refine 2 (#132)
waypoints navigator bug (#133)
progress in the sm_dance_bot tests (#135)
sm_dance_bot_lite (#136)
Resolve compile warnings (#137)
Add SM core test (#138)
minor navigation improvements (#141)
using local action msgs (#139)
Feature/nav2z renaming (#144)
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)
Feature/sm dance bot strikes back refactoring (#152)
slight waypoint 4 and iterations changes so robot can complete course (#155)
initial migration to smacc2 (#151)
Add QOS durability to SmaccPublisherClient (#163)
Feature/testing moveit behaviors (#167)
sm_pubsub_1 (#169)
sm_pubsub_1 part 2 (#170)
sm_advanced_recovery_1 renaming (#171)
sm_multi_stage_1 reworking (#172)
Feature/aws navigation sm dance bot (#174)
warehouse2 (#177)
Waypoint Inputs (#178)
sm_dance_bot_warehouse_3 (#181)
Feature/sm warehouse 2 13 dec 2 (#182)
Brettpac branch (#184)
SrConditional fixes and formatting (#168)
Feature/wharehouse2 dec 14 (#185)
Feature/cb pure spinning (#188)
Feature/planner changes 16 12 (#191)

Changed

minor tweaks (#130)
minor format issues (#134)
Fix CI: format fix python version (#148)
Remove node creation and create only a logger. (#149)
fixing some errors introduced on formatting
fixing some more linting warnings
fixing compiling issues
update readme (#164)
moved reference library SMs to smacc2_performance_tools (#166)
Add reliability qos config
fixing pipeline error
fixing broken master build
fixing broken build

Fixed

minor tuning to mitigate overshot issue cases
fixing some build errors
fixing some formatting and templating on SrConditional
move trigger logic into headers
lint
pure spinning behavior missing files

Removed

removing sm_dance_bot_msgs
removing parameters smacc
removing test from main moveit cmake

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_8 =========

Version 0.1.0 (2022-01-01)

Added

Feature/replanning 16 dec (#193): Replanning for all examples.
Feature/undo motion 20 12 (#196): Improving undo motion navigation in warehouse2.
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).
Merging code from backport foxy and updates about autoware (#208): Backport to foxy.

Changed

Foxy backport (#206): Minor formatting fixes, trailing spaces, codespell corrections, python linters warnings, and more.
Update cb_navigate_global_position.hpp: Improvements in smacc core, adding more components mostly developed for autoware demo.
Update ci-build-source.yml: Change extension of imports, enable cppcheck, correct formatting of python file.
Update tracing/ManualTracing.md: Changed wording “smacc application” to “SMACC2 library”.

Fixed

Enable build of missing rolling repositories.
Enable Navigation2 for semi-binary build.
Remove galactic builds from master and keep only rolling. Remove submodules and use .repos file.
Some progress on navigation rolling.
Added smacc2_performance_tools: Performance tests improvements.

Removed

Deleted tracing directory.
Removed manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh.

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> ```

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

Added

Added galactic CI setup and renamed rolling files. (#58)
Added new feature, cb_wait_topic_message: asynchronous client behavior that waits for a topic message and optionally checks its contents for success. Also, added a 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 for. (#82, #92)
Added navigation parameters fixes on sm_dance_bot. (#93)

Changed

Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69)
Updated doxygen links (#70)
Updated c_cpp_properties.json
Updated README.md with launch command

Fixed

Fixed source CI and corrected README overview. (#62)
Corrected trailing spaces.
Corrected all linters and formatters.

Removed

Removed execution of clang-format on smacc2_sm_reference_library package.

Other

Optimized dependencies in move_base_z_planners_common.
Renamed event generator library.
Minor formatting improvements.

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>

```

pabloinigoblasco

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

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: add for waiting nav2 nodes subscribing to the /bond topic and ensuring they are alive; optional node selection
Base for the sm_aws_warehouse navigation
Gazebo fixes to show the robot and lidar
sm_multi_stage_1 doubling
sm_dance_bot_strikes_back gazebo fixes
AWS demo progress
Source build enabled on PR for testing
slam_toggle client behaviors and slam_toolbox components; smacc2::deep_history syntax
First working version of sm template and template generator

Changed

Progress in AWS navigation demo
Navigation parameters fixes on sm_dance_bot
Minor format improvements
Cleaning and lidar show/hide option
Several core improvements during navigation testing
Formatting enhancements
sm_dance_bot visualizing Turtlebot3
Polishing sm_dance_bot and S-pattern
More refinement in sm_dance_bot
Minor tweaks

Fixed

Remove some compile warnings
Remove neo_simulation2 package
Correct formatting
Adjust build packages of source CI
Move method after the method it calls to prevent recursion
Typo correction (“Finnaly” to “Finally”)

Removed

neo_simulation2 package

Collaborators

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

```

Section 11

Added

Feature/sm dance bot refine 2 (#132)
Waypoints navigator bug (#133)
Progress in the sm_dance_bot tests (#135)
Feature/nav2z renaming (#144)
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/testing moveit behaviors (#167)
Feature/aws navigation sm dance bot (#174)
Waypoint Inputs (#178)
Feature/wharehouse2 dec 14 (#185)
Feature/cb pure spinning (#188)
Feature/planner changes 16 12 (#191)
Feature/replanning 16 dec (#193)
Feature/undo motion 20 12 (#196)

Changed

Minor tuning to mitigate overshot issue cases
Minor navigation improvements (#141)
Using local action msgs (#139)
Format fix python version (#148)
Fixing some errors introduced on formatting
Progressing in the moveit migration testing
Improving dockerfile for building local tests
Initial state machine transition timestamp (#165)
Moved reference library SMs to smacc2_performance_tools (#166)
Finetuning waypoints (#187)

Fixed

Build fix
Resolve compile warnings (#137)
Fix CI: format fix python version (#148)
Fixing broken master build
Fixing pipeline error
Fixing broken build
Warehouse2 progress (#179)
Several fixes (#194)

Removed

Removing sm_dance_bot_msgs
Removing parameters smacc
Removing test from main moveit cmake
Removing node creation and create only a logger. (#149)

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>

Section_12

Added

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)
Added missing file from warehouse2 (#205)
Add mergify rules file.
Add Autoware Auto Msgs into not-released dependencies. (#220)
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.
Create doxygen-deploy.yml
Added setupTracing.sh
Added new sm markdowns
Added a dockerfile for Rolling and Galactic

Changed

Improving undo motion navigation warehouse2
Undo tuning and errors
Tuning and fixes (#202)
Fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green
Updating subscriber publisher components
Progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine
Refining cp subscriber cp publisher
Improvements in smacc core adding more components mostly developed for autoware demo
Odom tracker improvements
Adding forward behavior retry functionality
Minor formatting fixes
Fix trailing spaces.
Correct codespell.
Correct python linters warnings.
Rename header files and correct format.
Correct formatters.
Correct GitHub branch reference.
Update name of package and package.xml to pass liter.
Reset all versions to 0.0.0
Update description table.
Update table
Copy initial docs
Changed “ros2 launch sm_three_some sm_three_some” to “ros2 launch sm_three_some sm_three_some.launch”
Changed wording “smacc application” to “SMACC2 library”
Edit from html to markdown syntax

Fixed

Minor broken build
Fix rolling builds (#222)
Remove example things from Foxy CI setup. (#214)
Fixing docker for foxy and galactic
Removing warnings (#213)
Disable ament_cpplint.
Disable some packages and update workflows.
Disable cpplint and cppcheck linters.
Disable disabled packages
Enable cppcheck
Docker files for different revisions, warnings removal and more testing on navigation
Ignore further packages
Satisfy ament_lint_cmake
Add missing licenses.

Removed

Weird moveit not downloaded repo
Delete tracing directory
Moved tracing.md to tracing directory
Removed manual installation of ros-rolling-ros2trace
This is now automated in setupTracing.sh
Location of sh file assumed if user follows README.md under “Getting started”
Created alternative ManualTracing

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 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

Renamed tracing events.
Updated mentions of SMACC/ROS to SMACC2/ROS2.
Renamed folders, deleted tracing.md, edited README.md.
Renamed smacc2_sm_reference_library package to sm_reference_library.
Renamed event generator library.
Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch.
Updated smacc2_rta command across readmes.
Corrected trailing spaces.
Optimized dependencies in move_base_z_planners_common.
Updated c_cpp_properties.json.
Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch.
Corrected all linters and formatters.

Fixed

Bug in smacc2 component.
Do not execute clang-format on smacc2_sm_reference_library package.
Fixed source CI and corrected README overview.
Fixed pre-commit issues.
Fixed formatting issues.

Removed

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

Collaborators

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

```

```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: add behavior waits for nav2 nodes subscribing to the /bond topic and ensures they are alive. Nodes to wait for can be optionally selected.
cb_pause_slam client behavior.
sm_dance_bot_lite visualizing TurtleBot3.
sm_multi_stage_1 doubling.
sm_dance_bot_strikes_back gazebo fixes.
AWS demo.

Changed

Progress in AWS navigation demo.
Navigation parameters fixes on sm_dance_bot.
Cleaning and lidar show/hide option for sm_dance_bot.
Gazebo fixes to show the robot and the lidar.
Progress in navigation, slam toggle client behaviors, and slam_toolbox components. Also smacc2::deep_history syntax.

Fixed

Minor format improvements.
Remove some compile warnings.
Correct formatting.
Additional linting and formatting.
Remove merge markers from a Python file.

Removed

Removed neo_simulation2 package.

Contributors

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

```

Section_15

Added

Introducing slam pausing/resuming functionality to sm_dance_bot (#124, #125, #126)
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)
Add QOS durability to SmaccPublisherClient (#163)
Added SVGs to READMEs of atomic, dance_bot, and others (#140)
Added remaining SVGs to READMEs (#145)
Waypoint Inputs (#178)
More Waypoints to sm_dance_bot_warehouse_3 (#181)
Redoing sm_dance_bot_warehouse_3 waypoints (#184)

Changed

Move method after the method it calls to avoid recursion (#126)
Renamed reference library SMs to smacc2_performance_tools (#166)
Minor navigation improvements (#141)
Updated package list (#142)
Update readme (#164)
Fixed launch command in README.md (#147)
Fix CI: format fix python version (#148)
Progress on move_it PR (#164)
Improved Dockerfile for building local tests
Added .reps dependencies and fixed build errors
Updated format in moveit migration testing
Added reliability qos config to SmaccPublisherClient
Minor configuration changes in testing moveit behaviors

Fixed

Resolved compile warnings (#137)
Fixed compiling issues in various parts of the project
Fixed pipeline error and broken master build
Fixed broken build in aws navigation
Fixed formatting issues in various parts of the project
Fixed some linting warnings
Fixed some errors introduced on formatting in moveit migration
Fixed some more linting warnings in moveit migration
Fixed some formatting and templating on SrConditional
Moved trigger logic into headers in SrConditional
Fixed some linting issues in SrConditional

Removed

Removed node creation and created only a logger in SM Atomic SM generator (#149)
Removed parameters smacc (#147)
Removed test from main moveit cmake
Removed sm_dance_bot_msgs
Removed some comments in the past from launch command for sm_dance_bot_strikes_back

Collaborators

Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai> in multiple commits
Co-authored-by: DecDury <declandury@gmail.com> in Feature/sm dance bot strikes back refactoring (#152)
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> in Feature/sm dance bot strikes back refactoring (#152) and Feature/aws navigation sm dance bot (#174)
Co-authored-by: Denis Štogl <denis@stogl.de> in Feature/aws navigation sm dance bot (#174)

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

Added

Feature/cb pure spinning (#188)
Feature/cb pure spinning (#189)
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)
Feature/retry behavior warehouse 1 (#226)
dockerfiles (#225)
Fix code generators (#221)
Foxy backport (#206)

Changed

Finetuning waypoints (#187)
Improving undo motion navigation warehouse2
Tuning warehouse3 (#197)
Fixing warehouse 3 problems, and other core improvements (#204)
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
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.
Included necessary package and edited Threesome launch

Fixed

Several fixes (#194)
Fix trailing spaces.
Minor formatting fixes

Removed

Delete tracing directory

Co-authored-by

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

```

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

Added

Moved tracing.md to tracing directory
Added setupTracing.sh script to automate ros-rolling-ros2trace installation and configuration
Created alternative ManualTracing
Added new sm markdowns
Added a Dockerfile for Rolling and Galactic
Added README tutorial for Dockerfile
Added smacc2_performance_tools
Added new feature: cb_wait_topic_message for asynchronous client behavior

Changed

Renamed “smacc application” to “SMACC2 library”
Updated mentions of SMACC/ROS to SMACC2/ROS2
Renamed tracing events
Renamed folders, deleted tracing.md, edited README.md
Renamed event generator library

Fixed

Bug in smacc2 component
Reverted markdowns to HTML
Optimized dependencies in move_base_z_planners_common
Corrected trailing spaces
Fixed source CI and corrected README overview
Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch
Updated doxygen links
Corrected all linters and formatters

Removed

Manual installation of ros-rolling-ros2trace

Other

Reactivated smacc2 nav clients for Rolling via submodules
Enabled build of missing Rolling repositories
Enabled Navigation2 for semi-binary build
Removed Galactic builds from master and kept only Rolling, removed submodules and used .repos file
Some progress on navigation Rolling
More changes on performance tests
Reformatted sm_reference_library
Cleaned up sm_atomic_24hr
Cleaned up sm_advanced_recovery_1
More work on sm_advanced_recovery_1
Modified sm_atomic_performance_test_a_2
Created sm_atomic_performance_test_c_1
Modified sm_multi_stage_1
More work on sm_multi_stage_1
More work on sm_atomic_performance_test_a_2
Created sm_atomic_performance_test_a_1
Created sm_atomic_performance_test_c_1
Created sm_multi_stage_1
More work on sm_multi_stage_1
More work on navigation
Attempted precommit fixes
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

```

pabloinigoblasco

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

Added

Feature/aws demo progress (#92)
New feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success
Adding 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
Navigation parameters fixes on sm_dance_bot
cb pause slam client behavior
sm_dance_bot_lite (#99)
Rename doxygen deployment workflow (#100)
sm_dance_bot visualizing turtlebot3 (#101)
Feature/dance bot launch gz lidar choice (#102)
gazebo fixes, to show the robot and the lidar
sm_multi_stage_1 doubling (#103)
gazebo fixes for sm_dance_bot_strikes_back
aws demo (#108)
Brettpac branch (#110)
a3 (#113)
Remove neo_simulation2 package. (#112)

Changed

Minor hotfix
Cleaning and lidar show/hide option
Cleaning files and making formatting work
Format fixes
Got sm_multi_stage_1 working (barely)
Gaining traction sm_multi_stage_1
Making progress
Keep hammering
Two stages
3 part
4th stage
5th stage
Correct formatting

Fixed

Remove some compile warnings. (#96)
Precommit cleanup run (#106)

```

pabloinigoblasco

Section 19

### Added - Enable source build on PR for testing. - Adjust build packages of source CI. - Added diverse improvements in navigation and performance. - Added linting and formatting. - Added progress in navigation, slam toggle client behaviors, and slam_toolbox components. - Introduced slam pausing/resuming functionality in sm_dance_bot testing. - Added first working version of sm template and template generator. - Added SVGs to READMEs of atomic, dance_bot, and others. - Added remaining SVGs to READMEs. - Added SM core test. - Added SM Atomic SM generator. - Rolling Docker environment to be executed from any environment. - Added initial state machine transition timestamp. - Added QOS durability to SmaccPublisherClient. - Added reliability QOS config. - Added repo dependency for AWS navigation sm dance bot. - Added husky launch file in sm_dance_bot. - Added dependencies for husky simulation. - Updated dependencies for husky in rolling and galactic.

### Changed - Moved method after the method it calls to prevent recursion. - Renamed sm_advanced_recovery_1. - Reworked sm_multi_stage_1 with multistage modes, sequences, steps, and finishing touches. - Moved reference library SMs to smacc2_performance_tools.

### Fixed - Removed merge markers from a python file. - Fixed launch command in README.md for sm_dance_bot_strikes_back. - Fixed CI format for python version. - Removed node creation and create only a logger. - Fixed compiling issues. - Fixed broken master build. - Fixed pipeline error. - Fixed formatting issues. - Fixed warehouse2.

### Removed - Removed parameters smacc. - Removed sm_dance_bot_msgs.

### Miscellaneous - Co-authored-by: Ubuntu 20-04-02-amd64 <brett@robosoft.ai>. - Co-authored-by: pabloinigoblasco <pablo@ibrobotics.com>. - 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>.

### Commits - (#114): more sm_multi_stage_1. - (#115): mm. - (#116): diverse improvements in navigation and performance. - (#119): Remove merge markers from a python file. - (#122): Feature/slam toggle and smacc deep history. - (#124): minor. - (#125): more changes in sm_dance_bot. - (#126): Move method after the method it calls. - (#127): First working version of sm template and template generator. - (#130): minor tweaks. - (#131): Feature/sm dance bot refine. - (#132): Feature/sm dance bot refine 2. - (#133): waypoints navigator bug. - (#134): minor format issues. - (#135): progress in the sm_dance_bot tests. - (#136): sm_dance_bot_lite. - (#137): Resolve compile warnings. - (#138): Add SM core test. - (#139): using local action msgs. - (#140): added SVGs to READMEs of atomic, dance_bot, and others. - (#141): minor navigation improvements. - (#142): Update package list. - (#143): Add SM Atomic SM generator. - (#144): Feature/nav2z renaming. - (#145): added remaining SVGs to READMEs. - (#147): removing parameters smacc. - (#148): Fix CI: format fix python version. - (#149): Remove node creation and create only a logger. - (#151): Feature/migration moveit client. - (#152): Feature/sm dance bot strikes back refactoring. - (#163): Add QOS durability to SmaccPublisherClient. - (#164): update readme. - (#165): initial state machine transition timestamp. - (#166): moved reference library SMs to smacc2_performance_tools. - (#167): Feature/testing moveit behaviors. - (#169): sm_pubsub_1. - (#170): sm_pubsub_1 part 2. - (#171): sm_advanced_recovery_1 renaming. - (#172): sm_multi_stage_1 reworking. - (#174): Feature/aws navigation sm dance bot. - (#175): minor changes. - (#177): warehouse2.

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

Added

Waypoint Inputs (#178) by Ubuntu 20-04-02-amd64 <brett@robosoft.ai>
wharehouse2 progress (#179)
sm_dance_bot_warehouse_3 (#181) by Ubuntu 20-04-02-amd64 <brett@robosoft.ai>
Feature/sm warehouse 2 13 dec 2 (#182)
Brettpac branch (#184)
Redoing sm_dance_bot_warehouse_3 waypoints
More Waypoints (#186)
finetuning waypoints (#187) by Ubuntu 20-04-02-amd64 <brett@robosoft.ai>
Feature/cb pure spinning (#188)
pure spinning behavior missing files
minor changes (#190)
Feature/planner changes 16 12 (#191)
Feature/replanning 16 dec (#193)
several fixes (#194)
minor changes (#195)
Feature/undo motion 20 12 (#196)
improving undo motion navigation warehouse2
tuning warehouse3 (#197)
undo tuning and errors
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) 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>
added missing file from warehouse2 (#205)
fixing docker for foxy and galactic
Update file for fake hardware simulation and add file for gazebo simulation.
retry behavior warehouse 1
fixing format and minor
progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine
refining cp subscriber cp publisher
improvements in smacc core adding more components mostly developed for autoware demo
autoware demo
foxy ci
fixing docker for foxy and galactic
Update file for fake hardware simulation and add file for gazebo simulation.
progressing in husky demo
improving navigation behaviors
Feature/improvements warehouse3 (#228)
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.
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
Change extension of imports.
Enable cppcheck

Changed

fix: some formatting and templating on SrConditional
fix: move trigger logic into headers
fix: lint
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
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minor
minor
minor
minor
minor
minor
minor
minor
minor
minor
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minor
minor
minor
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minor
minor
minor
minor
minor
minor
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```rst Section_21 ==========

Added

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

Changed

Corrected formatting of python files.
Renamed header files and corrected format.
Updated doxygen-check-build.yml.
Created doxygen-deploy.yml.
Updated name of package and package.xml to pass liter.
Renamed to smacc2 and smacc2_msgs.
Corrected GitHub branch reference.
Updated description table.
Updated table.
Renamed tracing events.
Changed wording “smacc application” to “SMACC2 library”.
Reactivated smacc2 nav clients for rolling via submodules.
Renamed folders and edited README.md.
Updated mentions of SMACC/ROS to SMACC2/ROS2.
Optimized dependencies in move_base_z_planners_common.
Renamed event generator library.

Fixed

Bug in smacc2 component.
Do not execute clang-format on smacc2_sm_reference_library.
Corrected trailing spaces.

Removed

Manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh.
Galatic builds from master, keeping only rolling.
Submodules, using .repos file instead.

Other Changes

Added workflow for checking doc build.
Created workflow for testing prerelease builds.
Created workflow for Galatic CI setup and renamed rolling files.
Added README tutorial for Dockerfile.
Added smacc2_performance_tools.
Performance tests improvements.
More on performance and other issues.
Cleanup and formatting improvements.
Progress in AWS navigation demo.
Several core improvements during navigation testing.
More on navigation.
Reworked sm_advanced_recovery_1.
Progress in AWS navigation.
Base for the sm_aws_aarehouse navigation.
Base for the sm_multi_stage_1.
Fixing precommit issues.

Commits

f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61: Reverted “Ignore all packages except smacc2 and smacc2_msgs”.
#58: Added galactic CI setup and renamed rolling files.
#62: Fixed source CI and corrected README overview.
#69: Changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch.
#70: Updated doxygen links.
#72: More README updates.
#74: More README updates.
#76: Created new sm from sm_respira_1.
#78: Feature/core and navigation fixes.
#80: Feature/aws demo progress.
#83: Reworked sm_advanced_recovery_1.
#84: More sm_advanced_recovery_1 work.
#85: More sm_advanced_recovery_1 work.
#86: Reworked sm_advanced_recovery_1.
#87: Brettpac branch.
#88: Added sm_atomic_performance_test_c_1.
#89: Modified sm_atomic_performance_test_a_2.
#90: Added sm_multi_stage_1.
#91: More sm_multi_stage_1.

Co-Authored-By

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

```

pabloinigoblasco

```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 (#81)
New feature: cb_wait_nav2_nodes, a client behavior for nav2 that subscribes to the /bond topic and waits for nodes to be alive, with optional node selection (#82)
New feature: cb_pause_slam, a client behavior for pausing SLAM (#98)
New feature: sm_dance_bot_lite gazebo fixes, including showing the robot and lidar (#104)

Changed

Corrected all linters and formatters for consistency (#82)

Fixed

Fixed navigation parameters on sm_dance_bot (#93)
Removed some compile warnings (#96)

Authors

Pablo Iñigo Blasco
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_23 ==========

Added

Feature/sm dance bot strikes back gazebo fixes (#105) - Visualizing turtlebot3 - Cleaning and lidar show/hide option - Format fixes
Precommit cleanup run (#106)
AWS demo (#108)
Brettpac branch (#110)
A3 (#113)
More sm_multi_stage_1 (#114)
MM (#115)
Diverse improvements navigation and performance (#116)
Feature/diverse improvements navigation performance (#117) - Additional linting and formatting
Remove neo_simulation2 package (#112) - Correct formatting - Enable source build on PR for testing - Adjust build packages of source CI
Move method after the method it calls to prevent recursion (#126)
First working version of sm template and template generator (#127)
Waypoints navigator bug (#133) - Minor tuning to mitigate overshot issue cases
Progress in the sm_dance_bot tests (#135) - Some more progress on markers cleanup
Minor navigation improvements (#141)
Added SVGs to READMEs of atomic, dance_bot, and others (#140)
Added remaining SVGs to READMEs (#145)
Update package list (#142)
Rolling Docker environment to be executed from any environment (#154)
Slight waypoint 4 and iterations changes so robot can complete course (#155)
Initial migration moveit client (#151) - Fixing errors introduced on formatting - Missing dependency - Fixing linting warnings - Removing test from main moveit cmake - Progressing in the moveit migration testing - Adding .reps dependencies and fixing build errors - Adding dependency to ur5 client - Docker refactoring
Update readme (#164) - More readme updates

Changed

Resolve compile warnings (#137)
Add SM core test (#138)
Feature/sm dance bot strikes back refactoring (#152)
Moved reference library SMs to smacc2_performance_tools (#166) - Pre-commit cleanup
Add QOS durability to SmaccPublisherClient (#163) - Add reliability QoS config

Removed

Remove neo_simulation2 package (#112) - Pending references
Removing parameters smacc (#147) - Workflows update
Noticed launch command was incorrect in README.md - Fixed launch command for sm_dance_bot_strikes_back and removed some comments

Fixed

Fix CI: format fix python version (#148)
Remove node creation and create only a logger (#149)
Feature/testing moveit behaviors (#167)

```

Section_24

Added

Added sm_pubsub_1 (#169) with contributions from Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.
Added sm_pubsub_1 part 2 (#170) with contributions from Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.
Added sm_advanced_recovery_1 renaming (#171) with contributions from Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.
Added sm_multi_stage_1 reworking (#172).
Added sm_multi_stage sequences.
Added sm_multi_state_1 steps.
Added sm_multi_stage_1 sequence d.
Added sm_multi_stage_1 c sequence.
Added mode_5_sequence_b.
Added mode_4_sequence_b.
Added sm_multi_stage_1 most.
Added finishing touches 1.
Added readme with contributions from Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.
Added Feature/aws navigation sm dance bot (#174).
Added repo dependency.
Added husky launch file in sm_dance_bot.
Added dependencies for husky simulation.
Added Fix formatting.
Added Update dependencies for husky in rolling and galactic.
Added progress on aws navigation and some other refactorings on navigation clients and behaviors.
Added more on aws demo.
Added Feature/wharehouse2 dec 14 (#185).
Added warehouse2.
Added minor.
Added Feature/sm warehouse 2 13 dec 2 (#186).
Added more changes and headless.
Added merge.
Added headless and other fixes.
Added default values.
Added finetuning waypoints (#187) with contributions from Ubuntu 20-04-02-amd64 <brett@robosoft.ai>.
Added Feature/cb pure spinning (#188).
Added Feature/cb pure spinning (#189).
Added pure spinning behavior missing files.
Added Feature/planner changes 16 12 (#191).
Added more fixes.
Added Feature/replanning 16 dec (#193).
Added replanning for all our examples.
Added several fixes (#194).
Added Feature/undo motion 20 12 (#196).
Added improving undo motion navigation warehouse2.
Added tuning warehouse3 (#197).
Added Feature/undo motion 20 12 (#198).
Added undo tuning and errors.
Added format.
Added Feature/sync 21 12 (#199).
Added format issues.
Added Feature/warehouse2 22 12 (#200).
Added format issues.
Added finishing warehouse2.
Added Feature/warehouse2 23 12 (#201).
Added tuning and fixes (#202).
Added Feature/minor tune (#203).
Added tuning and fixes.
Added fixing warehouse 3 problems, and other core improvements (#204).
Added weird moveit not downloaded repo.
Added added missing file from warehouse2 (#205).
Added backport to foxy.
Added minor format.
Added minor linking errors foxy.
Added missing.
Added missing sm.
Added updating subscriber publisher components.
Added progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine.
Added refining cp subscriber cp publisher.
Added improvements in smacc core adding more components mostly developed for autoware demo.
Added autoware demo.
Added foxy ci.
Added fix.
Added some reordering fixes.
Added docker files for different revisions, warnings removval and more testing on navigation.
Added fixing docker for foxy and galactic.
Added docker build files for all versions.
Added barrel demo.
Added barrel search build fix and warehouse3.
Added fixing startup problems in warehouse 3.
Added fixing format and minor.
Added progress in barrel husky.
Added barrel demo.
Added progress.
Added testing dance bot demos.
Added updating galactic repos.
Added runtime dependency.
Added restoring ur dependency.

Changed

Changed minor configuration.
Changed progress on moveit.
Changed more testing on moveit.
Changed more testing on moveit behaviors.
Changed finishing touches 1.
Changed more merge.
Changed docker improvements.
Changed master rolling to galactic backport.
Changed fixing build.

Fixed

Fixed pipeline error.
Fixed fixing broken master build.
Fixed fixing broken build.
Fixed fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green.

Removed

Removed sm_pubsub_1 part 2.
Removed sm_pubsub_1 part 2.
Removed sm_multi_stage_1 most.
Removed default values.
Removed minor.
Removed minor.
Removed minor.
Removed minor.
Removed minor.
Removed minor.
Removed minor.
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```rst Section_25 ==========

Version 0.1.0 (Date: TBD)

Added

Build-status table
Detailed install instructions ([source](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver#readme))
setupTracing.sh script for installing necessary packages and configuring tracing group

Changed

Default build type set to Release for faster build and smaller executables
Updated examples section

Fixed

Resolved missing dependency in smacc_msgs and reorganized for better overview
Fixed bug in smacc2 component
Cleaned up formatting in sm_respira_1 and sm_atomic_24hr
Optimized dependencies in move_base_z_planners_common
Renamed event generator library
Corrected build-overview table
Updated and unified CI configurations
Used tf_geometry_msgs.h in Galactic
Used Galactic branches in .repos-file

Removed

Manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh

Other Changes

Reorganized project structure
Removed test phase from CMake and dependencies from package.xml
Compiled with navigation and slam_toolbox
Enabled all packages to compile
Refactored getLogger functionality
Reverted changes in commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61
Ignored all packages except smacc2 and smacc2_msgs
Reactivated smacc2 nav clients for Rolling via submodules
Edited tracing.md to reflect new tracing event names
Performance tests improvements and other related changes
Do not execute clang-format on smacc2_sm_reference_library
Cleaned up sm_atomic_24hr
More cleanup on sm_atomic_24hr

Contributors

Denis Štogl
Pablo Iñigo Blasco

```