An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS (Robotic Operating System) applications written in C++
Home Page: https://smacc.dev
License: BSD 3-Clause "New" or "Revised" License
What are your thoughts on removing some of the boilderplate commented out sections from the cmake files in the examples? This would make reading those cmake files much easier because we could remove all the stuff that is not used in the example ros package.
I could make an example PR for this so you know what I'm suggesting. Would that be useful/welcome?
Hi, I am planning to do GUI that interacts with the state machine with action call. However, currently there is no action_server client available in SMACC, or am I missing something? Alternative would be to have another interface that receives the action call from the GUI and interacts with the state machine through service call.
Any suggestion are welcome. Thanks!
┆Issue is synchronized with this Jira Task by Unito
┆Link To Issue: https://robosoft-ai.atlassian.net/browse/SMACC1-4
I tried to do the intro tutorial . But smacc does not build on my machine and I cannot figure out the problem. I am running ros noetic on wsl2 with ubuntu 20.04. Can you help me with the problem?
$ catkin build
----------------------------------------------------------
Profile: default
Extending: [cached] /opt/ros/noetic
Workspace: /home/bauma/catkin_ws
----------------------------------------------------------
Build Space: [exists] /home/bauma/catkin_ws/build
Devel Space: [exists] /home/bauma/catkin_ws/devel
Install Space: [unused] /home/bauma/catkin_ws/install
Log Space: [exists] /home/bauma/catkin_ws/logs
Source Space: [exists] /home/bauma/catkin_ws/src
DESTDIR: [unused] None
----------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
----------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
----------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
----------------------------------------------------------
Workspace configuration appears valid.
----------------------------------------------------------
[build] Found '49' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> forward_global_planner
Starting >>> forward_local_planner
Starting >>> move_eye_client
Starting >>> pure_spinning_local_planner
Finished <<< move_eye_client [ 0.2 seconds ]
Finished <<< forward_global_planner [ 1.9 seconds ]
Starting >>> backward_global_planner
Finished <<< forward_local_planner [ 2.3 seconds ]
Starting >>> backward_local_planner
Finished <<< pure_spinning_local_planner [ 2.9 seconds ]
Finished <<< backward_global_planner [ 2.7 seconds ]
Starting >>> smacc_msgs
Starting >>> undo_path_global_planner
Finished <<< backward_local_planner [ 2.9 seconds ]
Finished <<< smacc_msgs [ 4.6 seconds ]
Starting >>> smacc
Finished <<< undo_path_global_planner [ 5.4 seconds ]
Starting >>> smacc_runtime_test
Finished <<< smacc [ 2.1 seconds ]
Starting >>> battery_monitor_client
Starting >>> eg_conditional_generator
Starting >>> eg_random_generator
Finished <<< smacc_runtime_test [ 1.0 seconds ]
Starting >>> keyboard_client
Finished <<< battery_monitor_client [ 0.5 seconds ]
Starting >>> microstrain_mips_client
Finished <<< keyboard_client [ 0.4 seconds ]
Finished <<< eg_random_generator [ 1.9 seconds ]
Starting >>> move_base_z_client_plugin
Starting >>> move_group_interface_client
Finished <<< eg_conditional_generator [ 1.9 seconds ]
Starting >>> multirole_sensor_client
Finished <<< multirole_sensor_client [ 0.3 seconds ]
Starting >>> ros_publisher_client
Finished <<< ros_publisher_client [ 0.4 seconds ]
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << microstrain_mips_client:cmake /home/bauma/catkin_ws/logs/microstrain_mips_client/build.cmake.004.log
CMake Warning (dev) at CMakeLists.txt:2 (project):
Policy CMP0048 is not set: project() command manages VERSION variables.
Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
The following variable(s) would be set to empty:
CMAKE_PROJECT_VERSION
CMAKE_PROJECT_VERSION_MAJOR
CMAKE_PROJECT_VERSION_MINOR
CMAKE_PROJECT_VERSION_PATCH
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "microstrain_mips"
with any of the following names:
microstrain_mipsConfig.cmake
microstrain_mips-config.cmake
Add the installation prefix of "microstrain_mips" to CMAKE_PREFIX_PATH or
set "microstrain_mips_DIR" to a directory containing one of the above
files. If "microstrain_mips" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
CMakeLists.txt:10 (find_package)
cd /home/bauma/catkin_ws/build/microstrain_mips_client; catkin build --get-env microstrain_mips_client | catkin env -si /usr/bin/cmake /home/bauma/catkin_ws/src/SMACC/smacc_client_library/microstrain_mips_client --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/bauma/catkin_ws/devel/.private/microstrain_mips_client -DCMAKE_INSTALL_PREFIX=/home/bauma/catkin_ws/install; cd -
...........................................................................................................................................................................................................
Failed << microstrain_mips_client:cmake [ Exited with code 1 ]
Failed <<< microstrain_mips_client [ 5.2 seconds ]
Abandoned <<< ros_timer_client [ Unrelated job failed ]
Abandoned <<< smacc_rviz_plugin [ Unrelated job failed ]
Abandoned <<< sr_all_events_go [ Unrelated job failed ]
Abandoned <<< sr_conditional [ Unrelated job failed ]
Abandoned <<< sr_event_countdown [ Unrelated job failed ]
Abandoned <<< sm_atomic_cb [ Unrelated job failed ]
Abandoned <<< sm_coretest_transition_speed_1 [ Unrelated job failed ]
Abandoned <<< sm_coretest_x_y_1 [ Unrelated job failed ]
Abandoned <<< sm_coretest_x_y_2 [ Unrelated job failed ]
Abandoned <<< sm_coretest_x_y_3 [ Unrelated job failed ]
Abandoned <<< sm_fetch_screw_loop_1 [ Unrelated job failed ]
Abandoned <<< sm_fetch_six_table_pick_n_sort_1 [ Unrelated job failed ]
Abandoned <<< sm_fetch_two_table_pick_n_place_1 [ Unrelated job failed ]
Abandoned <<< sm_fetch_two_table_whiskey_pour [ Unrelated job failed ]
Abandoned <<< sm_ridgeback_barrel_search_1 [ Unrelated job failed ]
Abandoned <<< sm_ridgeback_barrel_search_2 [ Unrelated job failed ]
Abandoned <<< sm_subscriber [ Unrelated job failed ]
Abandoned <<< sm_update_loop [ Unrelated job failed ]
Abandoned <<< sm_atomic [ Unrelated job failed ]
Abandoned <<< sm_atomic_services [ Unrelated job failed ]
Abandoned <<< sm_calendar_week [ Unrelated job failed ]
Abandoned <<< sm_ferrari [ Unrelated job failed ]
Abandoned <<< sm_packml [ Unrelated job failed ]
Abandoned <<< sm_respira_1 [ Unrelated job failed ]
Abandoned <<< sm_starcraft_ai [ Unrelated job failed ]
Abandoned <<< sm_three_some [ Unrelated job failed ]
Abandoned <<< sm_viewer_sim [ Unrelated job failed ]
Abandoned <<< sm_dance_bot [ Unrelated job failed ]
Abandoned <<< sm_dance_bot_2 [ Unrelated job failed ]
Abandoned <<< sm_dance_bot_strikes_back [ Unrelated job failed ]
Finished <<< move_base_z_client_plugin [ 3.9 seconds ]
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << move_group_interface_client:make /home/bauma/catkin_ws/logs/move_group_interface_client/build.make.004.log
/home/bauma/catkin_ws/src/SMACC/smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_end_effector_trajectory.cpp: In member function ‘cl_move_group_interface::ComputeJointTrajectoryErrorCode cl_move_group_interface::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(moveit_msgs::RobotTrajectory&)’:
/home/bauma/catkin_ws/src/SMACC/smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_end_effector_trajectory.cpp:69:28: error: ‘moveit_msgs::GetPositionIKRequest_<std::allocator<void> >::_ik_request_type’ {aka ‘struct moveit_msgs::PositionIKRequest_<std::allocator<void> >’} has no member named ‘attempts’
69 | req.ik_request.attempts = 20;
| ^~~~~~~~
make[2]: *** [CMakeFiles/move_group_interface_client.dir/build.make:180: CMakeFiles/move_group_interface_client.dir/src/move_group_interface_client/client_behaviors/cb_move_end_effector_trajectory.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:239: CMakeFiles/move_group_interface_client.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/bauma/catkin_ws/build/move_group_interface_client; catkin build --get-env move_group_interface_client | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
...........................................................................................................................................................................................................
Failed << move_group_interface_client:make [ Exited with code 2 ]
Failed <<< move_group_interface_client [ 12.6 seconds ]
[build] Summary: 18 of 49 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 30 packages were abandoned.
[build] Failed: 2 packages failed.
[build] Runtime: 27.1 seconds total.
See SMACC/gh-pages.sh lines 15 & 68 to see that the script is git pulling & pushing to Pablo's fork.
I searched the ros index site and rosdistro repo and was not able to find smacc. Would you mind doing a bloom release of this repo for melodic and noetic?
┆Issue is synchronized with this Jira Task by Unito
┆Link To Issue: https://robosoft-ai.atlassian.net/browse/SMACC1-6
This seems to be caused by state reactors and client behaviours that are destructed while their callback functions are running.
Is there a way to prevent such scenarios?
For custom objects it is possible to use mutexes to circumvent the issue, but for standard objects such as 'sr_all_events_go' this is less than ideal.
We get a lot of messages during the returnToRadialStart state from the odom tracker like the returning path was incorrect compared with the forward path.
Hi guys,
I tried to follow your Getting Started video, but I am getting a lot of problems at the compiling part.
Please see my log below and let me know if you've encountered similar problems.
Catkin Build Summary
[build] Summary: 4 of 50 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 42 packages were abandoned.
[build] Failed: 4 packages failed.
[build] Runtime: 1 minute and 34.7 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
Actual Log
[build] Found '49' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 2.0 seconds ]
Starting >>> forward_global_planner
Starting >>> move_eye_client
Starting >>> pure_spinning_local_planner
Starting >>> smacc_msgs
Finished <<< move_eye_client [ 2.0 seconds ]
Finished <<< smacc_msgs [ 8.9 seconds ]
Starting >>> smacc
Starting >>> smacc_runtime_test
Starting >>> smacc_rviz_plugin
Errors << pure_spinning_local_planner:make /home/evangelos/Desktop/catkin_smacc/logs/pure_spinning_local_planner/build.make.000.log
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/pure_spinning_local_planner.dir/src/pure_spinning_local_planner/pure_spinning_local_planner.cpp.o] Error 4
make[1]: *** [CMakeFiles/pure_spinning_local_planner.dir/all] Error 2
make: *** [all] Error 2
cd /home/evangelos/Desktop/catkin_smacc/build/pure_spinning_local_planner; catkin build --get-env pure_spinning_local_planner | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << pure_spinning_local_planner:make [ Exited with code 2 ]
Failed <<< pure_spinning_local_planner [ 19.4 seconds ]
Abandoned <<< backward_global_planner [ Unrelated job failed ]
Abandoned <<< backward_local_planner [ Unrelated job failed ]
Abandoned <<< forward_local_planner [ Unrelated job failed ]
Abandoned <<< battery_monitor_client [ Unrelated job failed ]
Abandoned <<< eg_conditional_generator [ Unrelated job failed ]
Abandoned <<< eg_random_generator [ Unrelated job failed ]
Abandoned <<< keyboard_client [ Unrelated job failed ]
Abandoned <<< microstrain_mips_client [ Unrelated job failed ]
Abandoned <<< move_base_z_client_plugin [ Unrelated job failed ]
Abandoned <<< move_group_interface_client [ Unrelated job failed ]
Abandoned <<< multirole_sensor_client [ Unrelated job failed ]
Abandoned <<< ros_publisher_client [ Unrelated job failed ]
Abandoned <<< ros_timer_client [ Unrelated job failed ]
Abandoned <<< sm_atomic_cb [ Unrelated job failed ]
Abandoned <<< sm_coretest_transition_speed_1 [ Unrelated job failed ]
Abandoned <<< sm_coretest_x_y_1 [ Unrelated job failed ]
Abandoned <<< sm_coretest_x_y_2 [ Unrelated job failed ]
Abandoned <<< sm_coretest_x_y_3 [ Unrelated job failed ]
Abandoned <<< sm_fetch_screw_loop_1 [ Unrelated job failed ]
Abandoned <<< sm_fetch_six_table_pick_n_sort_1 [ Unrelated job failed ]
Abandoned <<< sm_fetch_two_table_pick_n_place_1 [ Unrelated job failed ]
Abandoned <<< sm_fetch_two_table_whiskey_pour [ Unrelated job failed ]
Abandoned <<< sm_ridgeback_barrel_search_1 [ Unrelated job failed ]
Abandoned <<< sm_ridgeback_barrel_search_2 [ Unrelated job failed ]
Abandoned <<< sm_update_loop [ Unrelated job failed ]
Abandoned <<< sm_atomic [ Unrelated job failed ]
Abandoned <<< sr_all_events_go [ Unrelated job failed ]
Abandoned <<< sm_calendar_week [ Unrelated job failed ]
Abandoned <<< sm_ferrari [ Unrelated job failed ]
Abandoned <<< sm_packml [ Unrelated job failed ]
Abandoned <<< sm_respira_1 [ Unrelated job failed ]
Abandoned <<< sm_starcraft_ai [ Unrelated job failed ]
Abandoned <<< sm_three_some [ Unrelated job failed ]
Abandoned <<< sm_viewer_sim [ Unrelated job failed ]
Abandoned <<< sr_conditional [ Unrelated job failed ]
Abandoned <<< sr_event_countdown [ Unrelated job failed ]
Abandoned <<< sm_dance_bot [ Unrelated job failed ]
Abandoned <<< sm_dance_bot_2 [ Unrelated job failed ]
Abandoned <<< sm_dance_bot_strikes_back [ Unrelated job failed ]
Abandoned <<< sm_ridgeback_floor_coverage_dynamic_1 [ Unrelated job failed ]
Abandoned <<< sm_ridgeback_floor_coverage_static_1 [ Unrelated job failed ]
Abandoned <<< undo_path_global_planner [ Unrelated job failed ]
Errors << forward_global_planner:make /home/evangelos/Desktop/catkin_smacc/logs/forward_global_planner/build.make.000.log
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/forward_global_planner.dir/src/forward_global_planner.cpp.o] Error 4
make[1]: *** [CMakeFiles/forward_global_planner.dir/all] Error 2
make: *** [all] Error 2
cd /home/evangelos/Desktop/catkin_smacc/build/forward_global_planner; catkin build --get-env forward_global_planner | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << forward_global_planner:make [ Exited with code 2 ]
Failed <<< forward_global_planner [ 27.3 seconds ]
Errors << smacc:make /home/evangelos/Desktop/catkin_smacc/logs/smacc/build.make.000.log
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc.dir/src/smacc/client.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc.dir/src/smacc/common.cpp.o] Error 4
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc.dir/src/smacc/client_bases/smacc_action_client.cpp.o] Error 4
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc.dir/src/smacc/components/cp_ros_control_interface.cpp.o] Error 4
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc.dir/src/smacc/introspection/string_type_walker.cpp.o] Error 4
make[1]: *** [CMakeFiles/smacc.dir/all] Error 2
make: *** [all] Error 2
cd /home/evangelos/Desktop/catkin_smacc/build/smacc; catkin build --get-env smacc | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << smacc:make [ Exited with code 2 ]
Failed <<< smacc [ 1 minute and 18.4 seconds ]
Finished <<< smacc_runtime_test [ 1 minute and 21.6 seconds ]
Errors << smacc_rviz_plugin:make /home/evangelos/Desktop/catkin_smacc/logs/smacc_rviz_plugin/build.make.000.log
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc_rviz_plugin.dir/src/smacc_rviz_display.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/smacc_rviz_plugin.dir/smacc_rviz_plugin_autogen/mocs_compilation.cpp.o] Error 4
make[1]: *** [CMakeFiles/smacc_rviz_plugin.dir/all] Error 2
make: *** [all] Error 2
cd /home/evangelos/Desktop/catkin_smacc/build/smacc_rviz_plugin; catkin build --get-env smacc_rviz_plugin | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << smacc_rviz_plugin:make [ Exited with code 2 ]
Failed <<< smacc_rviz_plugin [ 1 minute and 23.4 seconds ]
Best regards,
Evangelos.
OK, I found the problem. Basically, when SMACC walks through the state machine and follows transitions among the various states, it uses a function named getTypeInfoFromType, which then makes a string of the type name and calls getTypeInfoFromString. Transition types are things like this:
smacc::transition<pickpal_controller_interface::EvGoalReceived<pickpal_msgs::SpatulaGripperControlAction_<std::allocator > >, pickpal_controller_interface::StReceivedSpatulaGoal, smacc::default_transition_name, boost::statechart::detail::no_context<pickpal_controller_interface::EvGoalReceived<pickpal_msgs::SpatulaGripperControlAction_<std::allocator > > >, &boost::statechart::detail::no_context<pickpal_controller_interface::EvGoalReceived<pickpal_msgs::SpatulaGripperControlAction_<std::allocator > > >::no_function>
and it goes through and identifies all the more basic type names (like, "smacc::default_transition_name", or "std::allocator", and starts making a little database of each type, replacing it with a little symbol... so it might take std::allocator and replace it with "$T0". It does this kind of recursively, so maybe pickpal_controller_interface::EvGoalReceived<pickpal_msgs::SpatulaGripperControlAction_<std::allocator > >
will become
pickpal_controller_interface::EvGoalReceived<pickpal_msgs::SpatulaGripperControlAction_<$T0 > >
which then becomes
pickpal_controller_interface::EvGoalReceived<$T1 >
and finally:
$T2
where there's a list of what $T0, $T1, and $T2 replace.
The problem came when you went over 10 replacements. When you have $T10, your code was replacing $T10 with (the value of $T1)0. This caused bad things, eventually resulting in a crash.
I'll try to put together a pull request tomorrow with the change. Right now, I'm been at work for 14 hours and I'm kind of burned out. Once I fixed it, though, the crash went away.
Credit to Mr. Bob Pitha for this ticket
See 5/25/19 email
Need to separate the substates Navigate & ToolSubstate to different files (headers and preferrably plugins)
May require a dynamic class loader?
When I execute cmd
curl -s https://b0e12e65a4f16bfc4594206c69dce2a49a5eabd04efb7540:@packagecloud.io/install/repositories/reelrbtx/SMACC_viewer/script.deb.sh | sudo bashI ran into such error output.
W: GPG error: https://packagecloud.io/reelrbtx/SMACC_viewer/ubuntu focal InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F504394FF0062D60
E: The repository 'https://packagecloud.io/reelrbtx/SMACC_viewer/ubuntu focal InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.
N: Usage of apt_auth.conf(5) should be preferred over embedding login information directly in the sources.list(5) entry for 'https://packagecloud.io/reelrbtx/SMACC_viewer/ubuntu'
Thanks!
Would you like me to make a PR to migrate the CI from travis to github actions? We have migrated the moveit repos to github actions as travis has gotten slower and slower and github actions is much more nicely integrated into github.
What I found is that smacc provides following client_base:
Can smacc provide service_server_client?
Thanks.
Following the Getting Started Tutorial, when I have to compile the workspace (after using rosdep install) I get the following error:
`
CMake Error at /opt/ros/melodic/share/catkin/cmake/custom_install.cmake:13 (_install):
_install TARGETS given target "opencv_perception_node" which does not exist
in this directory.
Call Stack (most recent call first):
SMACC/smacc_sm_reference_library/sm_ridgeback_barrel_search_1/CMakeLists.txt:111 (install)
CMake Error at SMACC/smacc_sm_reference_library/sm_ridgeback_barrel_search_2/CMakeLists.txt:92 (add_executable):
add_executable cannot create target "opencv_perception_node" because
another target with the same name already exists. The existing target is
an executable created in source directory
"/home/davide/catkin_ws/src/SMACC/smacc_sm_reference_library/sm_ridgeback_barrel_search_1".
See documentation for policy CMP0002 for more details.
`
And tons of related error cause opencv_perception_node is not build.
I'm running ROS Melodic, using an empty workspace.
ROSDEP does not install dependencies.
rosdep install --from-paths src --ignore-src -r -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
sm_fetch_six_table_pick_n_sort_1: Cannot locate rosdep definition for [fetch_navigation]
sm_dance_bot: Cannot locate rosdep definition for [ridgeback_navigation]
sm_dance_bot_2: Cannot locate rosdep definition for [ridgeback_navigation]
sm_ridgeback_barrel_search_2: Cannot locate rosdep definition for [ridgeback_navigation]
sm_fetch_two_table_pick_n_place_1: Cannot locate rosdep definition for [fetch_navigation]
sm_dance_bot_strikes_back: Cannot locate rosdep definition for [ridgeback_navigation]
sm_ridgeback_barrel_search_1: Cannot locate rosdep definition for [ridgeback_navigation]
microstrain_mips_client: Cannot locate rosdep definition for [microstrain_mips]
sm_fetch_two_table_whiskey_pour: Cannot locate rosdep definition for [fetch_navigation]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully
Any solution ?
Hi, I have a state, stateA, which is accessible from nearly every other state, stateB, stateC, etc. (similar to the recovery and operation ModeStates from the SmDanceBot examples). However, I'd like to implement a transition from stateA back to whichever state it transitioned in from - kind of like an interrupt state. For example,
stateB -> stateA -> stateB
stateB -> stateC -> stateA -> stateC
etc.
I've tried using the ModeStates from the DanceBot examples, but it looks like the transition back into the run modestate takes you to the pre-defined initial state, i.e. StAquireSensors, which isn't quite what I'm looking for. I also considered using a universally-accessible component which basically stores the previous state and allows it to be transitioned into. This doesn't seem like the most elegant solution though, so I was wondering if there was some other way to do this by possibly leveraging the deep_history stored by Boost::StateChart? I'm not too familiar with that library so not entirely sure how to proceed there either
Hey,
I got the error while spamming smacc with button press ros messages to trigger fast state transitions,
```__pthread_mutex_lock: Assertion `mutex->__data.__owner == 0' failed
I wonder if any has seen this and possible way to debug this.
I'm on Ubuntu Bionic using Melodic and when I try to run the viewer the accept button is missing for the license agreement:
This odd_manager_node is a SMACC-based ros node that handles system error of robotics.
/home/nvidia/catkin_ws_drivers/devel/lib/odd_manager/odd_manager_node > /dev/null 2>&1
Segmentation faultAny Idea of avoiding this?
Thanks.
This may be related with the travis log size issues we had.
If I am correct we deactivated this generation to keep the continuous integration properly working.
Hello,
This is not really an issue but a question regarding the license of the SMACC viewer. Sorry if this is not the appropriate place to post this question but I really couldn't find anywhere else:
The SMACC Viewer's license agreement mentions that a license may be purchased in the case of commercial use, can I please get more information regarding this?
Regards,
Omar
┆Issue is synchronized with this Jira Task by Unito
┆Link To Issue: https://robosoft-ai.atlassian.net/browse/SMACC1-2
The "signalDetector" thread might reference the state machine before it is really created.
(You might never notice this issue, it is usually innocuous)
The signalDetector Loop should not start until the state machine is fully created.
However, keep in mind that the signaldetector should be created before the state machine.
Order:
//create a thread for the asynchronous state machine processor execution
boost::thread otherThread(boost::bind(&sc::fifo_scheduler<>::operator(), &scheduler1, 0));
// use the main thread for the signal detector component (waiting actionclient requests)
signalDetector.pollingLoop();
Research/review the smacc core code to check if there are places where we are using dynamic memory allocation and fix them with static memory allocation or using c++ allocators.
One of the places that should be reviewed is the usage of client_behaviors vectors inside orthogonals where there might be some dynamic memory allocation.
The current plan is to setup some fixed number of client behaviors per state (or allocating dynamically at startup a maximum number of client behaviors per state)
Hello!
I am using SMACC with the SMACC viewer on ros noetic. The sm_atomic demo runs fine, but the current state is not highlighted in the SMACC viewer on the left side of the viewer. Transitions are shown in the trnasition log however.
Any idea how I can fix this?
Thanks!
Action server result events may happen out of the scope of the original state request.
For example:
We are located in state S1 and we make a request to the MoveBaseActionClient. We are waiting the result, but meanwhile some other event (ie: keyboard event) make us transit to the next state S2.
The issue then appears: S2 is also dependent on the Actionserver result, it also makes a call to the MoveBaseActionClient. Some undeterministic behavior may happen:
- We may get an action server result of preempt for the first request (in this case could not be a problem for many applications)
- Nonetheless there is a race condition. The success result of the request made in State S1 could happen before we make the request from S2 to the moveBase action server, then the transition from S2 to S3 would happen. (non expected behavior)
We may have several solutions to this. For instance:
void onInitialize()
{
auto rotateBehavior = new SbRotate(/30/-90)
rotateBehavior.cancelAliveMotionRequestOnExit = true; // by default is false
this->configure(rotateBehavior);
}
if we are in on SbRotate::onExit function and we know that the request we did in SbRotate::onEntry is still alive, then we make another request to cancel (probably we need to block the main thread to avoid more problems in S2)
Another solution is the following:
The solution is located in the MoveBaseAction client, it is able to know if there is an open request alive. If that is the case and it receives another new motion request then: it must send a cancel request to the movebase action server and wait to that cancellation (blocking the thread), then send the second request.
A third option (based in second option) that would skip the need of blocking the main thread would be to create a queue of requests. If there is a motion request in process and it receives a new motion request we enqueue the second one. Without blocking the main thread we send a cancel message to cancel the first request (meanwhile we may be already in state S2). When the cancel request is totally accepted, then the movebaseactionclient send the second request (associated to state S2) and the process continues seamlessly.
in tutorial（https://github.com/reelrbtx/SMACC#creatingaccessing-to-smacccomponents ）
compile error in line this->requiresComponent(moveBaseClient_); like below
error: no matching function for call to ‘smacc_tutorial::BaseStateMachine::requiresComponent(smacc::SmaccMoveBaseActionClient*&, ros::NodeHandle&, std::__cxx11::string&, bool&)’
base_type::outermost_context().requiresComponent(storage, nh, value, verbose);
...
error: no matching function for call to ‘processTransition(boost::statechart::transition<smacc::EvActionResult<smacc::SmaccMoveBaseActionClient>, smacc_tutorial::State2>*&, std::shared_ptr<smacc::SmaccStateInfo>&)’
processTransition(dummy, sourceState);
could you please fix this bag
How can one use multiple parallel orthogonal lines in a SMACC state machine as illustrated below?
I tried using the examples from here but they don't seem to work.
Add documents for component?
Thanks.
I have an updatable client behaviour defined which is activated within the state machine's initial state. However, I've noticed that the update loop occasionally fails to begin getting called and the update callback is never entered. This seems to be totally random and I'm not able to trigger it manually
I've taken a look at the update loop here and noticed that, at times, the client behaviour table is updated here before all the client behaviours have finished being added and initialised. Then, at the next loop when the CBs have actually been added, the table is not updated (since now lastState_ == currentState) and no update() functions can be executed. The log output below shows the behaviour I'm talking about where the CB table is updated to soon:
...
[ INFO] [1658248892.188056645]: [sm::StRest] Configuring orthogonal: sm::OrHttp
[ INFO] [1658248892.188219663]: [PollOnce] current state: 2
[ INFO] [1658248892.188328821]: [PollOnce] last state: 0
[ INFO] [1658248892.188391033]: [PollOnce] detected new state, refreshing updatable client behavior table
[ INFO] [1658248892.188716652]: updatable state elements: 0
[ INFO] [1658248892.188908727]: [Orthogonal sm::OrHttp] adding client behavior: sm::CbRobotStatusUpdate
[ INFO] [1658248892.189014429]: [sm::StRest] Creating static client behavior: sm::CbAthenaTeleopActivate
[ INFO] [1658248892.189069920]: [sm::StRest] Configuring orthogonal: sm::OrAthena
[ INFO] [1658248892.189136324]: [Orthogonal fox_rt::OrAthena] adding client behavior: fox_rt::CbAthenaTeleopActivate
[ INFO] [1658248892.189194567]: [sm::StRest] ---- END STATIC DESCRIPTION
[ INFO] [1658248892.189241322]: [sm::StRest] State runtime configuration
[ INFO] [1658248892.189299437]: [Orthogonal sm::OrAthena] runtimeConfigure, current Behavior: sm::CbAthenaTeleopActivate
[ INFO] [1658248892.189358129]: [Orthogonal sm::OrHttp] runtimeConfigure, current Behavior: sm::CbRobotStatusUpdate
[ INFO] [1658248892.189444054]: [Orthogonal sm::OrTeleop] runtimeConfigure, current Behavior: sm::CbTeleopActivate
[ WARN] [1658248892.189534459]: [StateMachine] setting state active : sm::MsAutonomousOperationMode/sm::StRest
[ INFO] [1658248892.189664259]: [sm::StRest] State OnEntry
[ WARN] [1658248892.189789194]: Required client [sm::ClTeleopSafeStopService] not found in current orthogonal. Searching in other orthogonals.
[ WARN] [1658248892.189890032]: Required client [sm::ClTeleopSafeStopService] found in other orthogonal.
[ WARN] [1658248892.189974741]: Brakes already active
[ INFO] [1658248892.190018167]: In rest state
[ INFO] [1658248892.190064186]: [sm::StRest] State OnEntry code finished
[ INFO] [1658248892.190115645]: [Orthogonal sm::OrAthena] OnEntry, current Behavior: sm::CbAthenaTeleopActivate
[ INFO] [1658248892.190658684]: [StateMachine] life-time constrained smacc signal subscription created. Subscriber is sm::CbAthenaTeleopActivate
[ INFO] [1658248892.190730497]: [Orthogonal sm::OrFollowMe] OnEntry
[ INFO] [1658248892.190783524]: [Orthogonal sm::OrFrontZedCamera] OnEntry
[ INFO] [1658248892.190879113]: [Orthogonal sm::OrGpio] OnEntry
[ INFO] [1658248892.190928492]: [Orthogonal sm::OrHttp] OnEntry, current Behavior: sm::CbRobotStatusUpdate
[ INFO] [1658248892.191234302]: [StateMachine] life-time constrained smacc signal subscription created. Subscriber is sm::CbRobotStatusUpdate
[ INFO] [1658248892.191296961]: [Orthogonal sm::OrMapping] OnEntry
[ INFO] [1658248892.191341444]: [Orthogonal sm::OrNavigation] OnEntry
[ INFO] [1658248892.191384166]: [Orthogonal sm::OrRearZedCamera] OnEntry
[ INFO] [1658248892.191426505]: [Orthogonal sm::OrRfid] OnEntry
[ INFO] [1658248892.191468683]: [Orthogonal sm::OrScales] OnEntry
[ INFO] [1658248892.191517230]: [Orthogonal sm::OrTeleop] OnEntry, current Behavior: fox_rt::CbTeleopActivate
[ INFO] [1658248892.192057838]: [StateMachine] life-time constrained smacc signal subscription created. Subscriber is sm::CbTeleopActivate
[ INFO] [1658248892.192154355]: [Orthogonal sm::OrTimer] OnEntry
[ WARN] [1658248892.192233112]: [StateMachine] setting state active : sm::MsAutonomousOperationMode/sm::StRest
[ INFO] [1658248892.238259719]: [PollOnce] current state: 2
[ INFO] [1658248892.238412271]: [PollOnce] last state: 2
[ INFO] [1658248892.238478035]: updatable state elements: 0
[ INFO] [1658248892.288266301]: [PollOnce] current state: 2
...
I'm not sure how to approach this. My guess is that the checks here should prevent this behaviour, but its not doing so reliably (at least in this case). The workaround we're using is to start a timer at the CB's initialisation which executes a state transition back into the state to recreate everything, if the timer isn't stopped within an allotted time.
At the moment, message callbacks are handled by defining a function to receive a message and create a boost signal by passing said function and its attached parent object. Is there any way to define the callback as a std::function variable instead and register it as a callback with the signal manager instead? This would make it a bit less verbose to write a simple 1-line functions that fires a state transition event, for example.
┆Issue is synchronized with this Jira Task by Unito
┆Link To Issue: https://robosoft-ai.atlassian.net/browse/SMACC1-3
Hi,
I had a look at sm_fetch_six_table_pick_n_sort_1 and the sm_atomic of the reference library and want to ask you a few questions about their functionalities.
Thank you!
Hi, I would like to start a discussion with SMACC vs BTs and have the opportunity to show my point. I am afraid you have been using BTs in the wrong context.
I consider the points that you raised up in the webpage here:
I agree that having concurrent actions that need to be synchronized represents a challenge (and it is my current research interest now), however, I fail to see where SMACC is better than BTs in these contexts. In particular, you clam:
What happens when you have 26 orthogonals, corresponding to 26 physical subsystems, say on a military uav. Are you going to run 26 processes and deal with all the interprocess communication? How would you debug such a system, and the inevitable race conditions that would almost certainly arise?
It is my firm belief that this will not work because it will not scale
Will it scale with SMACC?
How do you handle recovery sequences?
Do you put them in the beginning of the cycle, or the end?
if it’s at the beginning, how is this going to be fast, since you loop through it every time?
How do you handle orthogonals again? – see above
Actually, I see a lot of similarity at the behavior level between complex robots and NPC. Sure, the actuations and sensing capability are different, but at the deliberation layer they both have to act and react to unexpected changes in the environment.
I also had issues with finding public references for that. Companies don't expose their know-how. I found a few examples:
Boston Dynamics
Rethink Robotics
ROS2 Navigation stack
R1 in different fetch-and-pour task.
Robotic Behavior in RobMoSys using Behavior Trees and the SmartMDSD Toolchain (MOOD2be ITP)
COSTAR
Learning BTs from demonstration
From the web page
Try an experiment out for yourself. Find someone, who has never taken a computer science course in their life, and ask them a question like…
“How do you bake a cake?”
I think you are using the wrong example here. I would not use a BT for a static sequence of actions (or I would use simple BT formed by a sequence with memory with all the actions or a FSM).
And, I don’t think the condition based flow (polling) lends itself to high performance, vis a vis an event-based system. Particularly in asynchronous environments.
That depends on the implementation. However, also in FSM, you need to poll conditions to verify if it has to jump to another state (with the additional problem that you must ensure that the conditions are mutually exclusive, otherwise you get an undefined behavior).
Again from your page:
In the final analysis, it should be obvious that although they are a mental construct, states really do exist…
- In an airplane, you’re either in the air or on the ground
- A car is either moving, or its not
- A handgun is either loaded, or it’s not
- Your mother-in-law has either joined you for dinner, or she hasn’t
You actually stated conditions that could be either true or false.
In BT you don't pretend that state does not exist, you consider only what matters. Take your first example "In an airplane, you’re either in the air or on the ground": you check the condition "if it is in the air" and not really the state. Depending on the state space representation, if you are sitting in the Business or Economy class can be represented as different states.
To conclude, I think SMACC and BT have to be used for different problems (BT to model the robot deliberation that needs to react to several system changes and SMACC to model linear action sequencing). However, since you raised up some downsides of BTs, I would be really happy to see how SMACC outperforms them.
Regards
Michele Colledanchise
┆Issue is synchronized with this Jira Task by Unito
┆Link To Issue: https://robosoft-ai.atlassian.net/browse/SMACC1-7
I'm running SMACC on Ubuntu 20.04 using ROS noetic. I was trying to run the examples, and even though the state machine itself seems to be working fine, I cannot see the currently active state on the viewer.
I have installed SMACC Viewer using apt (sudo apt-get install ros-noetic-smacc-viewer) but I also had to install wx manually using sudo pip install -U wxPython. Please let me know if I can assist with something else.
Hi,
First I want to say it's a great work for statemachines with ROS.
And I wonder if there is any plan to provide arm64 based deb packages so we can deploy it into arm based systems like NVIDIA Jetson devices.
hello ,now I can run smacc in 20.04 by delete some client and modify the boost.But I alse want to use SMACC Viewer in 20.04.Can you release version 20.04?
We need to upgrade the usage of a few ros elements such as publishers and subscriber inside the SmaccStateMachine that might affect realtimeness.
The solution would be using an additional non-RT thread and communicating using the ros realtime http://wiki.ros.org/realtime_tools to remove any possible system call or memory allocation inside the StateMachine thread.
Hi Pablo,
The doxygen builds are being pushed through anymore..
If you go into the ghpages branch, master folder, the last push was on 3/1
If you look at the folder renaming I did (state_machine_templates for instance), they are not showing up in doxygen (which is displaying the old name.
I made some updates to the doxyfile (related to types of graphs produced by doxygen), and I made some edits to the gh-pages.sh script, (also related to the types of graphs produced by doxygen), where I needed to have graphviz on the TRAVIS CI build in order to create the graphs in question (dot graphs).
Anyways, but if you go into the Travis Dashboard, and view the raw logs, everything I did seems to be working (dot graphs are being produced, caller graphs are being produced).
One potential issue, look at gh-pages.sh, line 15, and you'll see a reference to your fork and not this repo.
This issue discuss about the need of a feature about "configuring client and component parameters from client behaviors".
Some questions arise: How we can override the configuration of some parameter of a client temporally via client behaviors? How a client could provide an optional parameter override default values?
Optional parameters of a client
A client represents some "permanent state element". We may want to configure some specific parameter permanently. We face this in the following way:
When a client is developed with some optional parameter, it should be declared as a boost::optional (or std::optional in higher versions) class attribute of the client or the component.
Optional parameters on client behaviors
This can be done manually using on entry and on exit functions. for example: (https://github.com/reelrbtx/SMACC/blob/master/smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/client_behaviors/cb_navigate_forward.cpp)
More thoughts
This is a a very interesting feature about a problem we needed to face several times creating ad-hoc solutions. A navigation example:
The idea is simple: we want to be able to modify the parameters of a client or a component dynamically
A client behavior overrides (during its lifetime) the value of some parameter of a client (or a component).
The possible combinations are wide. Some examples:
The client have an optional parameter, that can set by the user. If not set, some default value is used.
The client have an optional parameter. A client behavior changes some optional parameter of the client during its lifetime.
The client behavior could also have optional parameters that also overwrites optional parameters of the client.
Both, the client optional parameter and the client behavior parameters are set (some kind of precedence should be used, IMO: CBs overrites Clients)
A client behavior changes something (not one of the optional parameters) in the state of the client during its lifecycle. The state should be reseted back to the original state.
We propose a pattern that could/should be enough for a wide of complicated scenarios.
Hi I was following the getting started tutorial and faced issue running the atomic example. The following error,
smacc_runtime_test_node-3] process has died [pid 27462, exit code 255, was printed after running roslaunch sm_atomic sm_atomic.launch
In addition, smacc_viewer_node, have both wxversion 2.8 is not installed, installed versions are ['3.0-gtk3'] error message, and an exception with the following trace output:
Exception in thread Thread-6: Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner self.run() File "/usr/lib/python2.7/threading.py", line 754, in run self.__target(*self.__args, **self.__kwargs) File "/opt/ros/melodic/lib/smacc_viewer/smacc_viewer_node.py", line 1914, in _update_server_list self.select_state_machine(state_machine_names[0]) File "/opt/ros/melodic/lib/smacc_viewer/smacc_viewer_node.py", line 1963, in select_state_machine newtransitionhistory = self.transition_log_history_srv[server_name]() File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__ return self.call(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 532, in call raise ServiceException("transport error completing service call: %s"%(str(e))) ServiceException: transport error completing service call: receive_once[/SmAtomic/smacc/transition_log_history]: DeserializationError cannot deserialize: unknown error handler name 'rosmsg'
I wonder if there is any solution for this? Thanks
Hi,
Help Needed.
I am tring to send rosmsg for 10 hz loop, and find CbDefaultPublishLoop in SMACC/smacc_client_library/, and I did not find
I only find one line of code, It seems that this feature was not finished?
Could you give this feature a guide for this repo?
Thanks @pabloinigoblasco
I am a student and I am writing my diploma project about BTs and also about SMACC. I do not know a lot about SMACC even though I tried examining your documentation and tutorials. Is there any possibility that You could help me and explain to me how to create a simple state machine using SMACC. I am supposed to create two state machines: one- very simple just to show the transitions between states (example of opening a fridge and getting a drink from it), two - more complicated state machine working on a simulation of a robot (for example pick and place). I would be very thankful for any help from You.
Hi,
I noticed that, in the smacc viewer, all events have an unknown source. This makes debugging and visualising virtually impossible, especially for large state-machines.
I noticed that the command line info output for the state information structure does not contain any of the following elements:
Any ideas on this issue? (I am using the noetic-devel branch by the way)
Thanks!
Below is the output for StiState1 in the sm_three_some_node example, but the behaviour is not limited to this example alone.
[ INFO][/sm_three_some][1634634724.076027382]: **** State: sm_three_some::SS1::sm_three_some::inner_states::StiState1
**** State: sm_three_some::SS1::sm_three_some::inner_states::StiState1
Index: 5
StateLevel:
Childstates:
Transitions:
- Transition.
- Index: 0
- Transition Name: smacc::default_transition_tags::CONTINUELOOP
- Transition Type: smacc::default_transition_tags::CONTINUELOOP
- Event Type :smacc::default_events::EvLoopContinue
- Event Source:
- Event ObjectTag:
- Event Label:
- Destiny State: sm_three_some::SS1::sm_three_some::inner_states::StiState2
- Owner State: sm_three_some::SS1::sm_three_some::inner_states::StiState2
- Is History Node: 0
- TransitionC++Type: smacc::Transition<smacc::default_events::EvLoopContinue<sm_three_some::SS1::sm_three_some::inner_states::StiState1>, sm_three_some::S S1::sm_three_some::inner_states::StiState2, smacc::default_transition_tags::CONTINUELOOP, boost::statechart::detail::no_context<smacc::default_events::EvLoopContinue<sm_three_some::SS1::sm_three_some::inner_states::StiState1> >, &boost::statechart::detail::no_context<smacc::default_events::EvLoopContinue<sm_three_some::SS1::sm_three_some::inner_states::StiState1> >::no_function>
- EventC++Type: smacc::default_events::EvLoopContinue<sm_three_some::SS1::sm_three_some::inner_states::StiState1>
Orthogonals:
- orthogonal: sm_three_some::OrKeyboard
- NO Client BEHAVIORS -
- client: cl_keyboard::ClKeyboard
- orthogonal: sm_three_some::OrSubscriber
- NO Client BEHAVIORS -
- client: sm_three_some::cl_subscriber::ClSubscriber
- orthogonal: sm_three_some::OrTimer
- NO Client BEHAVIORS -
- client: cl_ros_timer::ClRosTimer
- orthogonal: sm_three_some::OrUpdatablePublisher
- NO Client BEHAVIORS -
- client: cl_ros_publisher::ClRosPublisher
State event generators:
State reactors:
- NO STATE REACTORS -
Hello,
Somehow when running catkin_make I have compiling errors with the sm_atomic example and probably the others:
In file included from /usr/include/boost/statechart/fifo_scheduler.hpp:13,
from /usr/include/boost/statechart/asynchronous_state_machine.hpp:12,
from /home/user/Workspace/ws_catkin/src/SMACC/smacc/include/smacc/common.h:11,
from /home/user/Workspace/ws_catkin/src/SMACC/smacc/include/smacc/smacc.h:7,
from /home/user/Workspace/ws_catkin/src/SMACC/smacc_sm_reference_library/sm_atomic/include/sm_atomic/sm_atomic.h:1,
from /home/user/Workspace/ws_catkin/src/SMACC/smacc_sm_reference_library/sm_atomic/src/sm_atomic_node.cpp:1:
/usr/include/boost/statechart/processor_container.hpp: In instantiation of ‘void boost::statechart::processor_container<Scheduler, WorkItem, Allocator>::create_processor_impl1(const processor_holder_ptr_type&, const boost::statechart::processor_container<Scheduler, WorkItem, Allocator>::processor_context&, Arg1) [with Processor = sm_atomic::SmAtomic; Arg1 = smacc::SignalDetector*; Scheduler = boost::statechart::fifo_scheduler<boost::statechart::fifo_worker<std::allocator >, std::allocator >; WorkItem = boost::function0; Allocator = std::allocator; boost::statechart::processor_container<Scheduler, WorkItem, Allocator>::processor_holder_ptr_type = boost::shared_ptr<std::auto_ptr<boost::statechart::event_processor<boost::statechart::fifo_scheduler<boost::statechart::fifo_worker<std::allocator >, std::allocator > > > >]’:
/usr/include/boost/statechart/processor_container.hpp:136:20: required from ‘WorkItem boost::statechart::processor_container<Scheduler, WorkItem, Allocator>::create_processor(boost::statechart::processor_container<Scheduler, WorkItem, Allocator>::processor_handle&, Scheduler&, Arg1) [with Processor = sm_atomic::SmAtomic; Arg1 = smacc::SignalDetector*; Scheduler = boost::statechart::fifo_scheduler<boost::statechart::fifo_worker<std::allocator >, std::allocator >; WorkItem = boost::function0; Allocator = std::allocator; boost::statechart::processor_container<Scheduler, WorkItem, Allocator>::processor_handle = boost::weak_ptr<std::auto_ptr<boost::statechart::event_processor<boost::statechart::fifo_scheduler<boost::statechart::fifo_worker<std::allocator >, std::allocator > > > >]’
/usr/include/boost/statechart/fifo_scheduler.hpp:62:17: required from ‘boost::statechart::fifo_scheduler<FifoWorker, Allocator>::processor_handle boost::statechart::fifo_scheduler<FifoWorker, Allocator>::create_processor(Arg1) [with Processor = sm_atomic::SmAtomic; Arg1 = smacc::SignalDetector*; FifoWorker = boost::statechart::fifo_worker<std::allocator >; Allocator = std::allocator; boost::statechart::fifo_scheduler<FifoWorker, Allocator>::processor_handle = boost::weak_ptr<std::auto_ptr<boost::statechart::event_processor<boost::statechart::fifo_scheduler<boost::statechart::fifo_worker<std::allocator >, std::allocator > > > >]’
/home/linuxsocke/Nextcloud/Workspace/ws_catkin/src/SMACC/smacc/include/smacc/smacc_signal_detector.h:89:42: required from ‘void smacc::run() [with StateMachineType = sm_atomic::SmAtomic]’
/home/linuxsocke/Nextcloud/Workspace/ws_catkin/src/SMACC/smacc_sm_reference_library/sm_atomic/src/sm_atomic_node.cpp:9:37: required from here
/usr/include/boost/statechart/processor_container.hpp:324:44:
error: no matching function for call to ‘sm_atomic::SmAtomic::SmAtomic(const boost::statechart::processor_container<boost::statechart::fifo_scheduler<boost::statechart::fifo_worker<std::allocator >, std::allocator >, boost::function0, std::allocator >::processor_context&, smacc::SignalDetector*&)’
324 | *pProcessor = processor_holder_type( new Processor( context, arg1 ) );
Is this version issue with boost? I am using Ubnunt 20.04 with ros-noetic.
When checking my boost is says:
libboost-all-dev is already the newest version (1.71.0.0).
Side note: Currently looking for a state machine and I am impressed by your work and effort 👍
Sometimes the transition betwen navigateRadialStart state and RotateDegrees state blocks the execution.
It may be some kind of race condition related with actionclient result messages.
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