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Run Application

**WARNING: This application uses xml launch files which is only supported in ROS Eloquent, make sure to have installed ** apt install ros-eloquent-launch-xml

  • Start Use the crs.launch.xml launch file

    ros2 launch crs_application crs.launch.xml

    This will start the SM and all of the required nodes. When initialization is complete the application will go into the Ready::Wait_User_Cmd

  • Query the current state Open a new terminal and run the following:

    ros2 topic echo /current_state

    You should see the current state id printed on the terminal repeateadly

  • Query available actions in the current state From another terminal run the following

    ros2 service call /get_available_actions crs_msgs/srv/GetAvailableActions 'search_pattern: "user"'

    The response may look as follows:

    response: crs_msgs.srv.GetAvailableActions_Response(action_ids=['user_done', 'user_approves'], succeeded=False, err_msg='')

    This means the the actions "user_done" and "user_approves" are valid and can be executed.

  • Execute an action In a new terminal run the following:

    ros2 service call /execute_action crs_msgs/srv/ExecuteAction 'action_id: user_approves'

    If the current state allows that action then you should see the SM transition to another state