basic demo coverage

smacc2_sm_reference_library/sm_dance_bot_coverage/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(sm_dance_bot_coverage)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(Boost COMPONENTS thread REQUIRED)
+
+find_package(smacc2 REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(nav2z_client REQUIRED)
+
+find_package(ros_publisher_client REQUIRED)
+find_package(multirole_sensor_client REQUIRED)
+
+find_package(sr_all_events_go REQUIRED)
+find_package(sr_event_countdown REQUIRED)
+find_package(sr_conditional REQUIRED)
+find_package(ros_timer_client REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(opennav_coverage_msgs REQUIRED)
+
+set(dependencies
+  smacc2
+  std_msgs
+  sensor_msgs
+  nav2z_client
+  ros_publisher_client
+  multirole_sensor_client
+  sr_all_events_go
+  sr_event_countdown
+  sr_conditional
+  ros_timer_client
+  visualization_msgs
+  opennav_coverage_msgs
+)
+
+include_directories(include
+                    ${Boost_INCLUDE_DIRS})
+
+add_executable(${PROJECT_NAME}_node
+  src/${PROJECT_NAME}/sm_dance_bot_coverage.cpp
+  src/${PROJECT_NAME}/clients/cl_navigation_coverage/cl_navigate_coverage.cpp
+  src/${PROJECT_NAME}/clients/cl_navigation_coverage/client_behaviors/cb_navigate_coverage.cpp
+
+  )
+
+ament_target_dependencies(${PROJECT_NAME}_node ${dependencies})
+target_link_libraries(${PROJECT_NAME}_node ${Boost_LIBS})
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/sm_dance_bot_coverage.dsv.in")
+
+if(BUILD_TESTING)
+endif()
+
+install(TARGETS
+  ${PROJECT_NAME}_node
+
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY models DESTINATION share/${PROJECT_NAME})
+
+ament_package()

smacc2_sm_reference_library/sm_dance_bot_coverage/README.md

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+ <h2>State Machine Diagram</h2>
+
+ ![sm_dance_bot_coverage](docs/SmDanceBot_2023-5-26_151817.svg)
+
+ <h2>Description</h2> A full-featured state machine example, that highlights the capabilities of SMACC2 & the ROS2 Navigation Stack via the MoveBaseZ Client.
+.<br></br>
+<a href="https://robosoft-ai.github.io/smacc2_doxygen/master/html/namespacesm__dance__bot.html">Doxygen Namespace & Class Reference</a>
+
+ <h2>Build Instructions</h2>
+
+First, source your ros2 installation.
+
+```
+source /opt/ros/humble/setup.bash
+```
+
+Before you build, make sure you've installed all the dependencies...
+
+```
+rosdep install --ignore-src --from-paths src -y -r
+```
+
+Then build with colcon build...
+
+```
+colcon build
+```
+<h2>Operating Instructions</h2>
+After you build, remember to source the proper install folder...
+
+```
+source ~/workspace/humble_ws/install/setup.sh
+```
+
+And then run the launch file...
+
+```
+ros2 launch sm_dance_bot_coverage sm_dance_bot_launch.py
+```
+<h2>Headless launch</h2>
+
+Alternatively, you can also launch the gazebo simulator in headless mode:
+```
+ros2 launch sm_dance_bot_coverage sm_dance_bot_launch.py headless:=True
+```
+ <h2>Viewer Instructions</h2>
+If you have the SMACC2 Runtime Analyzer installed then type...
+
+```
+ros2 run smacc2_rta smacc2_rta
+```
+
+If you don't have the SMACC2 Runtime Analyzer click <a href="https://robosoft.ai/product-category/smacc2-runtime-analyzer/">here</a>.