├── .clang-format ├── .claude └── settings.json ├── .github ├── Doxyfile ├── ISSUE_TEMPLATE │ ├── compilation_error_report.md │ └── runtime_error_report.md ├── SMACC2-not-released.jazzy.repos ├── SMACC2.jazzy.repos ├── mergify.yml └── workflows │ ├── README.md │ ├── ci-format.yml │ ├── ci-ros-lint.yaml │ ├── doxygen-check-build.yml │ ├── doxygen-deploy.yml │ ├── jazzy-binary-build.yml │ ├── jazzy-bloom-release.yml │ └── jazzy-semi-binary-build.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CLAUDE.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── smacc2 ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── smacc2 │ │ ├── callback_counter_semaphore.hpp │ │ ├── client_bases │ │ ├── smacc_action_client.hpp │ │ ├── smacc_action_client_base.hpp │ │ ├── smacc_publisher_client.hpp │ │ ├── smacc_ros_launch_client.hpp │ │ ├── smacc_ros_launch_client_2.hpp │ │ ├── smacc_service_client.hpp │ │ ├── smacc_service_server_client.hpp │ │ └── smacc_subscriber_client.hpp │ │ ├── client_behaviors │ │ ├── cb_call_service.hpp │ │ ├── cb_ros_launch.hpp │ │ ├── cb_ros_launch_2.hpp │ │ ├── cb_ros_stop_2.hpp │ │ ├── cb_sequence.hpp │ │ ├── cb_service_server_callback_base.hpp │ │ ├── cb_sleep_for.hpp │ │ ├── cb_subscription_callback_base.hpp │ │ ├── cb_wait_action_server.hpp │ │ ├── cb_wait_action_server_2.hpp │ │ ├── cb_wait_node.hpp │ │ ├── cb_wait_topic.hpp │ │ └── cb_wait_topic_message.hpp │ │ ├── client_core_components │ │ ├── cp_action_client.hpp │ │ ├── cp_ros2_timer.hpp │ │ ├── cp_service_client.hpp │ │ ├── cp_topic_publisher.hpp │ │ └── cp_topic_subscriber.hpp │ │ ├── common.hpp │ │ ├── component.hpp │ │ ├── impl │ │ ├── smacc_asynchronous_client_behavior_impl.hpp │ │ ├── smacc_client_behavior_impl.hpp │ │ ├── smacc_client_impl.hpp │ │ ├── smacc_component_impl.hpp │ │ ├── smacc_event_generator_impl.hpp │ │ ├── smacc_orthogonal_impl.hpp │ │ ├── smacc_state_impl.hpp │ │ ├── smacc_state_machine_impl.hpp │ │ └── smacc_state_reactor_impl.hpp │ │ ├── introspection │ │ ├── introspection.hpp │ │ ├── smacc_state_info.hpp │ │ ├── smacc_state_machine_info.hpp │ │ ├── smacc_type_info.hpp │ │ └── state_traits.hpp │ │ ├── smacc.hpp │ │ ├── smacc_asynchronous_client_behavior.hpp │ │ ├── smacc_client.hpp │ │ ├── smacc_client_behavior.hpp │ │ ├── smacc_client_behavior_base.hpp │ │ ├── smacc_default_events.hpp │ │ ├── smacc_event_generator.hpp │ │ ├── smacc_fifo_scheduler.hpp │ │ ├── smacc_fifo_worker.hpp │ │ ├── smacc_orthogonal.hpp │ │ ├── smacc_signal.hpp │ │ ├── smacc_signal_detector.hpp │ │ ├── smacc_state.hpp │ │ ├── smacc_state_base.hpp │ │ ├── smacc_state_machine.hpp │ │ ├── smacc_state_machine_base.hpp │ │ ├── smacc_state_reactor.hpp │ │ ├── smacc_tracing │ │ ├── smacc_tracing.hpp │ │ └── trace_provider.hpp │ │ ├── smacc_transition.hpp │ │ ├── smacc_types.hpp │ │ └── smacc_updatable.hpp ├── package.xml ├── scripts │ └── trace.sh └── src │ └── smacc2 │ ├── callback_counter_semaphore.cpp │ ├── client.cpp │ ├── client_bases │ ├── smacc_action_client.cpp │ ├── smacc_publisher_client.cpp │ ├── smacc_ros_launch_client.cpp │ └── smacc_ros_launch_client_2.cpp │ ├── client_behaviors │ ├── cb_ros_launch.cpp │ ├── cb_ros_launch_2.cpp │ ├── cb_ros_stop_2.cpp │ ├── cb_sequence.cpp │ ├── cb_wait_action_server.cpp │ ├── cb_wait_node.cpp │ └── cb_wait_topic.cpp │ ├── common.cpp │ ├── introspection │ ├── reflection.cpp │ └── string_type_walker.cpp │ ├── orthogonal.cpp │ ├── signal_detector.cpp │ ├── smacc_client_async_behavior.cpp │ ├── smacc_client_behavior.cpp │ ├── smacc_client_behavior_base.cpp │ ├── smacc_component.cpp │ ├── smacc_event_generator.cpp │ ├── smacc_state.cpp │ ├── smacc_state_info.cpp │ ├── smacc_state_machine.cpp │ ├── smacc_state_machine_info.cpp │ ├── smacc_tracing.cpp │ ├── smacc_updatable.cpp │ ├── state_reactor.cpp │ └── trace_provider.cpp ├── smacc2_client_library ├── CLAUDE.md ├── cl_generic_sensor │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── cl_generic_sensor │ │ │ ├── cl_generic_sensor.hpp │ │ │ ├── client_behaviors │ │ │ └── cb_default_generic_sensor_behavior.hpp │ │ │ └── components │ │ │ ├── README.md │ │ │ └── cp_message_timeout.hpp │ ├── package.xml │ └── src │ │ └── cl_generic_sensor │ │ └── cl_generic_sensor.cpp ├── cl_http │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── cl_http │ │ │ ├── cl_http.hpp │ │ │ ├── client_behaviors │ │ │ ├── cb_http_get_request.hpp │ │ │ ├── cb_http_post_request.hpp │ │ │ └── cb_http_request.hpp │ │ │ ├── components │ │ │ ├── cp_http_connection_manager.hpp │ │ │ ├── cp_http_request_executor.hpp │ │ │ └── cp_http_session_manager.hpp │ │ │ ├── http_session.hpp │ │ │ ├── http_session_base.hpp │ │ │ └── ssl_http_session.hpp │ ├── package.xml │ └── src │ │ └── cl_http │ │ ├── cl_http.cpp │ │ ├── components │ │ ├── cp_http_connection_manager.cpp │ │ ├── cp_http_request_executor.cpp │ │ └── cp_http_session_manager.cpp │ │ ├── http_session.cpp │ │ └── ssl_http_session.cpp ├── cl_keyboard │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── cl_keyboard │ │ │ ├── cl_keyboard.hpp │ │ │ ├── client_behaviors │ │ │ └── cb_default_keyboard_behavior.hpp │ │ │ └── components │ │ │ └── cp_keyboard_listener_1.hpp │ ├── package.xml │ ├── servers │ │ └── keyboard_server_node.py │ └── src │ │ └── cl_keyboard │ │ └── cl_keyboard.cpp ├── cl_lifecycle_node │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── cl_lifecycle_node │ │ │ ├── cl_lifecycle_node.hpp │ │ │ ├── client_behaviors.hpp │ │ │ ├── client_behaviors │ │ │ ├── cb_activate.hpp │ │ │ ├── cb_cleanup.hpp │ │ │ ├── cb_configure.hpp │ │ │ ├── cb_deactivate.hpp │ │ │ ├── cb_deactivate_on_exit.hpp │ │ │ ├── cb_destroy.hpp │ │ │ └── cb_shutdown.hpp │ │ │ ├── components.hpp │ │ │ └── components │ │ │ ├── cp_lifecycle_event_monitor.hpp │ │ │ └── cp_lifecycle_state_tracker.hpp │ ├── package.xml │ └── src │ │ └── cl_lifecycle_node │ │ ├── cl_lifecycle_node.cpp │ │ └── components │ │ ├── cp_lifecycle_event_monitor.cpp │ │ └── cp_lifecycle_state_tracker.cpp ├── cl_moveit2z │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── cl_moveit2z │ │ │ ├── cl_moveit2z.hpp │ │ │ ├── client_behaviors.hpp │ │ │ ├── client_behaviors │ │ │ ├── cb_attach_object.hpp │ │ │ ├── cb_circular_pivot_motion.hpp │ │ │ ├── cb_detach_object.hpp │ │ │ ├── cb_end_effector_rotate.hpp │ │ │ ├── cb_move_cartesian_relative2.hpp │ │ │ ├── cb_move_end_effector.hpp │ │ │ ├── cb_move_end_effector_trajectory.hpp │ │ │ ├── cb_move_joints.hpp │ │ │ ├── cb_move_known_state.hpp │ │ │ └── cb_undo_last_trajectory.hpp │ │ │ ├── common.hpp │ │ │ └── components │ │ │ ├── cp_grasping_objects.hpp │ │ │ ├── cp_joint_space_trajectory_planner.hpp │ │ │ ├── cp_motion_planner.hpp │ │ │ ├── cp_tf_listener.hpp │ │ │ ├── cp_trajectory_executor.hpp │ │ │ ├── cp_trajectory_history.hpp │ │ │ └── cp_trajectory_visualizer.hpp │ ├── package.xml │ └── src │ │ └── cl_moveit2z │ │ └── cl_moveit2z.cpp ├── cl_nav2z │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── cl_nav2z │ │ │ ├── cl_nav2z.hpp │ │ │ ├── client_behaviors.hpp │ │ │ ├── client_behaviors │ │ │ ├── cb_abort_navigation.hpp │ │ │ ├── cb_absolute_rotate.hpp │ │ │ ├── cb_active_stop.hpp │ │ │ ├── cb_load_waypoints_file.hpp │ │ │ ├── cb_nav2z_client_behavior_base.hpp │ │ │ ├── cb_navigate_backwards.hpp │ │ │ ├── cb_navigate_forward.hpp │ │ │ ├── cb_navigate_global_position.hpp │ │ │ ├── cb_navigate_named_waypoint.hpp │ │ │ ├── cb_navigate_next_waypoint.hpp │ │ │ ├── cb_navigate_next_waypoint_free.hpp │ │ │ ├── cb_navigate_next_waypoint_until_reached.hpp │ │ │ ├── cb_pause_slam.hpp │ │ │ ├── cb_position_control_free_space.hpp │ │ │ ├── cb_pure_spinning.hpp │ │ │ ├── cb_resume_slam.hpp │ │ │ ├── cb_retry_behavior.hpp │ │ │ ├── cb_rotate.hpp │ │ │ ├── cb_rotate_look_at.hpp │ │ │ ├── cb_save_slam_map.hpp │ │ │ ├── cb_seek_waypoint.hpp │ │ │ ├── cb_spiral_motion.hpp │ │ │ ├── cb_stop_navigation.hpp │ │ │ ├── cb_track_path_odometry.hpp │ │ │ ├── cb_track_path_slam.hpp │ │ │ ├── cb_undo_path_backwards.hpp │ │ │ ├── cb_wait_nav2_nodes.hpp │ │ │ ├── cb_wait_pose.hpp │ │ │ └── cb_wait_transform.hpp │ │ │ ├── common.hpp │ │ │ └── components │ │ │ ├── amcl │ │ │ └── cp_amcl.hpp │ │ │ ├── costmap_switch │ │ │ └── cp_costmap_switch.hpp │ │ │ ├── goal_checker_switcher │ │ │ └── cp_goal_checker_switcher.hpp │ │ │ ├── nav2_action_interface │ │ │ └── cp_nav2_action_interface.hpp │ │ │ ├── odom_tracker │ │ │ └── cp_odom_tracker.hpp │ │ │ ├── planner_switcher │ │ │ └── cp_planner_switcher.hpp │ │ │ ├── pose │ │ │ └── cp_pose.hpp │ │ │ ├── slam_toolbox │ │ │ └── cp_slam_toolbox.hpp │ │ │ └── waypoints_navigator │ │ │ ├── cp_waypoints_event_dispatcher.hpp │ │ │ ├── cp_waypoints_navigator.hpp │ │ │ ├── cp_waypoints_navigator_base.hpp │ │ │ └── cp_waypoints_visualizer.hpp │ ├── package.xml │ ├── scripts │ │ └── lidar_completion.py │ └── src │ │ └── cl_nav2z │ │ ├── cl_nav2z.cpp │ │ ├── client_behaviors │ │ ├── cb_abort_navigation.cpp │ │ ├── cb_absolute_rotate.cpp │ │ ├── cb_active_stop.cpp │ │ ├── cb_load_waypoints_file.cpp │ │ ├── cb_nav2z_client_behavior_base.cpp │ │ ├── cb_navigate_backward.cpp │ │ ├── cb_navigate_forward.cpp │ │ ├── cb_navigate_global_position.cpp │ │ ├── cb_navigate_named_waypoint.cpp │ │ ├── cb_navigate_next_waypoint.cpp │ │ ├── cb_navigate_next_waypoint_free.cpp │ │ ├── cb_navigate_next_waypoint_until_reached.cpp │ │ ├── cb_pause_slam.cpp │ │ ├── cb_position_control_free_space.cpp │ │ ├── cb_pure_spinning.cpp │ │ ├── cb_resume_slam.cpp │ │ ├── cb_rotate.cpp │ │ ├── cb_rotate_look_at.cpp │ │ ├── cb_save_slam_map.cpp │ │ ├── cb_seek_waypoint.cpp │ │ ├── cb_spiral_motion.cpp │ │ ├── cb_stop_navigation.cpp │ │ ├── cb_track_path_odometry.cpp │ │ ├── cb_track_path_slam.cpp │ │ ├── cb_undo_path_backwards.cpp │ │ ├── cb_wait_nav2_nodes.cpp │ │ ├── cb_wait_pose.cpp │ │ └── cb_wait_transform.cpp │ │ ├── common.cpp │ │ └── components │ │ ├── amcl │ │ └── cp_amcl.cpp │ │ ├── costmap_switch │ │ └── cp_costmap_switch.cpp │ │ ├── goal_checker_switcher │ │ └── cp_goal_checker_switcher.cpp │ │ ├── odom_tracker │ │ ├── cp_odom_tracker.cpp │ │ └── cp_odom_tracker_node.cpp │ │ ├── planner_switcher │ │ └── cp_planner_switcher.cpp │ │ ├── pose │ │ └── cp_pose.cpp │ │ ├── slam_toolbox │ │ └── cp_slam_toolbox.cpp │ │ └── waypoints_navigator │ │ ├── cp_waypoints_event_dispatcher.cpp │ │ ├── cp_waypoints_navigator.cpp │ │ └── cp_waypoints_visualizer.cpp └── cl_ros2_timer │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── cl_ros2_timer │ │ ├── cl_ros2_timer.hpp │ │ ├── client_behaviors │ │ ├── cb_ros2_timer.hpp │ │ ├── cb_timer_countdown_loop.hpp │ │ └── cb_timer_countdown_once.hpp │ │ └── components │ │ └── cp_timer_listener_1.hpp │ ├── package.xml │ └── src │ └── cl_ros2_timer.cpp ├── smacc2_dev_tools ├── .vscode │ ├── c_cpp_properties.json │ ├── gdb-run.sh │ ├── launch.json │ ├── settings.json │ └── tasks.json ├── claude │ └── Prompts.md ├── docker │ ├── Dockerfile │ ├── build_docker.sh │ ├── build_docker_foxy.sh │ ├── build_docker_galactic.sh │ ├── build_docker_humble.sh │ ├── build_docker_rolling.sh │ ├── examples │ │ └── run_sm_atomic.sh │ ├── run_docker_bash_foxy.sh │ ├── run_docker_bash_galactic.sh │ └── run_docker_bash_humble.sh ├── sandbox │ ├── cp_ros_control_interface.cpp.disabled │ └── cp_ros_control_interface.h.disabled └── sm_reference_lib_run_commands.md ├── smacc2_event_generator_library ├── eg_conditional_generator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── eg_conditional_generator │ │ │ └── eg_conditional_generator.hpp │ ├── package.xml │ └── src │ │ └── eg_conditional_generator │ │ └── eg_conditional_generator.cpp └── eg_random_generator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── eg_random_generator │ │ └── eg_random_generator.hpp │ ├── package.xml │ └── src │ └── eg_random_generator │ └── eg_random_generator.cpp ├── smacc2_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── SmaccContainerInitialStatusCmd.msg │ ├── SmaccContainerStatus.msg │ ├── SmaccContainerStructure.msg │ ├── SmaccEvent.msg │ ├── SmaccEventGenerator.msg │ ├── SmaccOrthogonal.msg │ ├── SmaccSMCommand.msg │ ├── SmaccState.msg │ ├── SmaccStateMachine.msg │ ├── SmaccStateReactor.msg │ ├── SmaccStatus.msg │ ├── SmaccTransition.msg │ └── SmaccTransitionLogEntry.msg ├── package.xml └── srv │ └── SmaccGetTransitionHistory.srv ├── smacc2_performance_tools ├── performance_tests │ ├── sm_atomic_performance_trace_1 │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── sm_atomic_performance_trace_1_config.yaml │ │ │ └── sm_atomic_performance_trace_1_test.yaml │ │ ├── docs │ │ │ └── SmAtomicPerformanceTrace1_2021-10-18_1008.svg │ │ ├── include │ │ │ └── sm_atomic_performance_trace_1 │ │ │ │ ├── sm_atomic_performance_trace_1.hpp │ │ │ │ └── states │ │ │ │ ├── st_state_1.hpp │ │ │ │ └── st_state_2.hpp │ │ ├── launch │ │ │ └── sm_atomic_performance_trace_1.launch │ │ ├── package.xml │ │ └── src │ │ │ └── sm_atomic_performance_trace_1 │ │ │ └── sm_atomic_performance_trace_1_node.cpp │ ├── sm_atomic_subscribers_performance_test │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── sm_atomic_config.yaml │ │ ├── include │ │ │ └── sm_atomic_subscribers_performance_test │ │ │ │ ├── orthogonals │ │ │ │ └── or_subscriber.hpp │ │ │ │ ├── sm_atomic_subscribers_performance_test.hpp │ │ │ │ └── states │ │ │ │ ├── st_state_1.hpp │ │ │ │ └── st_state_2.hpp │ │ ├── launch │ │ │ └── sm_atomic_subscribers_performance_test.launch │ │ ├── package.xml │ │ ├── servers │ │ │ └── basic_publisher.py │ │ └── src │ │ │ └── sm_atomic_subscribers_performance_test │ │ │ └── sm_atomic_subscribers_performance_test_node.cpp │ └── sm_coretest_transition_speed_1 │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ ├── sm_coretest_transition_speed_1.yaml │ │ └── sm_coretest_transition_speed_1_config.yaml │ │ ├── docs │ │ └── SmCoretestTransitionSpeed1_2021-10-19_104842.svg │ │ ├── include │ │ └── sm_coretest_transition_speed_1 │ │ │ ├── sm_coretest_transition_speed_1.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ │ ├── launch │ │ └── sm_coretest_transition_speed_1.launch │ │ ├── package.xml │ │ └── src │ │ └── sm_coretest_transition_speed_1 │ │ └── sm_coretest_transition_speed_1_node.cpp └── tracing_tools │ ├── README.md │ └── setupTracing.sh ├── smacc2_sm_reference_library ├── CLAUDE.md ├── _smacc2_sm_template │ ├── CMakeLists.txt │ ├── COLCON_IGNORE │ ├── README.md │ ├── config │ │ ├── sm_name.yaml │ │ └── sm_name_config.yaml │ ├── include │ │ └── sm_name │ │ │ ├── orthogonals │ │ │ └── or_timer.hpp │ │ │ ├── sm_name.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ ├── launch │ │ ├── NOT_USED_sm_name_with_arguments.launch │ │ └── sm_name.launch │ ├── package.xml.template │ └── src │ │ └── sm_name │ │ └── sm_name_node.cpp ├── create-sm-package.bash ├── sm_advanced_recovery_1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_advanced_recovery_1_config.yaml │ ├── docs │ │ ├── SmAdvancedRecovery1_2021-11-27_15045.svg │ │ └── SmAdvancedRecovery1_2023-5-24_125255.pdf │ ├── include │ │ └── sm_advanced_recovery_1 │ │ │ ├── clients │ │ │ └── cl_subscriber │ │ │ │ ├── cl_subscriber.hpp │ │ │ │ └── client_behaviors │ │ │ │ ├── cb_default_subscriber_behavior.hpp │ │ │ │ └── cb_watchdog_subscriber_behavior.hpp │ │ │ ├── mode_states │ │ │ ├── ms_recover.hpp │ │ │ └── ms_run.hpp │ │ │ ├── orthogonals │ │ │ ├── or_keyboard.hpp │ │ │ ├── or_subscriber.hpp │ │ │ └── or_timer.hpp │ │ │ ├── sm_advanced_recovery_1.hpp │ │ │ ├── states │ │ │ ├── a_cycle_inner_states │ │ │ │ ├── sti_a_cycle_loop.hpp │ │ │ │ ├── sti_a_cycle_step_1.hpp │ │ │ │ ├── sti_a_cycle_step_2.hpp │ │ │ │ ├── sti_a_cycle_step_3.hpp │ │ │ │ ├── sti_a_cycle_step_4.hpp │ │ │ │ ├── sti_a_cycle_step_5.hpp │ │ │ │ ├── sti_a_cycle_step_6.hpp │ │ │ │ ├── sti_a_cycle_step_7.hpp │ │ │ │ ├── sti_a_cycle_step_8.hpp │ │ │ │ └── sti_a_cycle_step_9.hpp │ │ │ ├── b_cycle_inner_states │ │ │ │ ├── sti_b_cycle_loop.hpp │ │ │ │ ├── sti_b_cycle_step_1.hpp │ │ │ │ ├── sti_b_cycle_step_2.hpp │ │ │ │ ├── sti_b_cycle_step_3.hpp │ │ │ │ ├── sti_b_cycle_step_4.hpp │ │ │ │ ├── sti_b_cycle_step_5.hpp │ │ │ │ ├── sti_b_cycle_step_6.hpp │ │ │ │ ├── sti_b_cycle_step_7.hpp │ │ │ │ ├── sti_b_cycle_step_8.hpp │ │ │ │ └── sti_b_cycle_step_9.hpp │ │ │ ├── c_cycle_inner_states │ │ │ │ ├── sti_c_cycle_loop.hpp │ │ │ │ ├── sti_c_cycle_step_1.hpp │ │ │ │ ├── sti_c_cycle_step_2.hpp │ │ │ │ ├── sti_c_cycle_step_3.hpp │ │ │ │ ├── sti_c_cycle_step_4.hpp │ │ │ │ ├── sti_c_cycle_step_5.hpp │ │ │ │ ├── sti_c_cycle_step_6.hpp │ │ │ │ ├── sti_c_cycle_step_7.hpp │ │ │ │ ├── sti_c_cycle_step_8.hpp │ │ │ │ └── sti_c_cycle_step_9.hpp │ │ │ ├── ms_recover_inner_states │ │ │ │ ├── st_recover_step_1.hpp │ │ │ │ ├── st_recover_step_2.hpp │ │ │ │ ├── st_recover_step_3.hpp │ │ │ │ ├── st_recover_step_4.hpp │ │ │ │ ├── st_recover_step_5.hpp │ │ │ │ ├── st_recover_step_6.hpp │ │ │ │ └── st_recover_step_7.hpp │ │ │ └── st_observe.hpp │ │ │ └── superstates │ │ │ ├── ss_a_cycle.hpp │ │ │ ├── ss_b_cycle.hpp │ │ │ └── ss_c_cycle.hpp │ ├── launch │ │ └── sm_advanced_recovery_1.py │ ├── package.xml │ └── src │ │ └── sm_advanced_recovery_1_node.cpp ├── sm_atomic │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_atomic_config.yaml │ ├── docs │ │ └── SmAtomic_2021-10-18_93942.svg │ ├── include │ │ └── sm_atomic │ │ │ ├── orthogonals │ │ │ └── or_timer.hpp │ │ │ ├── sm_atomic.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ ├── launch │ │ └── sm_atomic.py │ ├── package.xml │ └── src │ │ └── sm_atomic │ │ └── sm_atomic_node.cpp ├── sm_atomic_http │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_atomic_http_config.yaml │ ├── docs │ │ └── SmAtomic_2021-10-18_93942.svg │ ├── include │ │ └── sm_atomic_http │ │ │ ├── clients │ │ │ └── client_behaviors │ │ │ │ └── cb_http_request.hpp │ │ │ ├── orthogonals │ │ │ ├── or_http.hpp │ │ │ └── or_timer.hpp │ │ │ ├── sm_atomic_http.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ ├── launch │ │ └── sm_atomic_http.py │ ├── package.xml │ └── src │ │ └── sm_atomic_http │ │ └── sm_atomic_http_node.cpp ├── sm_atomic_lifecycle │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_atomic_config.yaml │ ├── docs │ │ ├── SmAtomicLifecycle_2023-5-25_72845.svg │ │ └── SmAtomicLifecycle_2023-5-25_72855.pdf │ ├── include │ │ └── sm_atomic_lifecycle │ │ │ ├── orthogonals │ │ │ ├── or_lifecyclenode.hpp │ │ │ └── or_timer.hpp │ │ │ ├── sm_atomic_lifecycle.hpp │ │ │ └── states │ │ │ ├── st_activating.hpp │ │ │ ├── st_active.hpp │ │ │ ├── st_cleaning_up.hpp │ │ │ ├── st_configuring.hpp │ │ │ ├── st_deactivating.hpp │ │ │ ├── st_error_processing.hpp │ │ │ ├── st_finalized.hpp │ │ │ ├── st_inactive.hpp │ │ │ ├── st_shutting_down.hpp │ │ │ └── st_unconfigured.hpp │ ├── launch │ │ └── sm_atomic_lifecycle.py │ ├── package.xml │ └── src │ │ ├── lifecycle_examplenode │ │ └── lifecycle_example_node.cpp │ │ └── sm_atomic_lifecycle │ │ └── sm_atomic_lifecycle_node.cpp ├── sm_atomic_mode_states │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_atomic_mode_states_config.yaml │ ├── docs │ │ ├── SmAtomicModeStates_2023-5-25_94327.svg │ │ └── SmAtomicModeStates_2023-5-25_94337.pdf │ ├── include │ │ └── sm_atomic_mode_states │ │ │ ├── client_behaviors │ │ │ └── cb_updatable_test.hpp │ │ │ ├── orthogonals │ │ │ └── or_timer.hpp │ │ │ ├── sm_atomic_mode_states.hpp │ │ │ └── states │ │ │ ├── ms_state_1.hpp │ │ │ ├── ms_state_2.hpp │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ ├── launch │ │ └── sm_atomic_mode_states.py │ ├── package.xml │ └── src │ │ └── sm_atomic_mode_states │ │ └── sm_atomic_mode_states_node.cpp ├── sm_branching │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_branching_config.yaml │ ├── docs │ │ └── SmBranching_2021-10-18_101026.svg │ ├── include │ │ └── sm_branching │ │ │ ├── orthogonals │ │ │ └── or_timer.hpp │ │ │ ├── sm_branching.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ ├── st_state_2.hpp │ │ │ ├── st_state_2b.hpp │ │ │ ├── st_state_2c.hpp │ │ │ ├── st_state_3.hpp │ │ │ ├── st_state_3b.hpp │ │ │ ├── st_state_3c.hpp │ │ │ ├── st_state_4.hpp │ │ │ ├── st_state_4c.hpp │ │ │ ├── st_state_5.hpp │ │ │ ├── st_state_5b.hpp │ │ │ └── st_state_6.hpp │ ├── launch │ │ └── sm_branching.py │ ├── package.xml │ └── src │ │ └── sm_branching │ │ └── sm_branching_node.cpp ├── sm_cl_keyboard_unit_test_1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_cl_keyboard_unit_test_1_config.yaml │ ├── docs │ │ └── SmClKeyboardUnitTest1_2025-9-18_93223.svg │ ├── include │ │ └── sm_cl_keyboard_unit_test_1 │ │ │ ├── orthogonals │ │ │ ├── or_keyboard.hpp │ │ │ └── or_timer.hpp │ │ │ ├── sm_cl_keyboard_unit_test_1.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ ├── launch │ │ └── sm_cl_keyboard_unit_test_1.py │ ├── package.xml │ └── src │ │ └── sm_cl_keyboard_unit_test_1 │ │ └── sm_cl_keyboard_unit_test_1_node.cpp ├── sm_cl_ros2_timer_unit_test_1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_cl_ros2_timer_unit_test_1_config.yaml │ ├── docs │ │ └── SmClRos2TimerUnitTest1_2025-9-15_56482.svg │ ├── include │ │ └── sm_cl_ros2_timer_unit_test_1 │ │ │ ├── orthogonals │ │ │ └── or_timer.hpp │ │ │ ├── sm_cl_ros2_timer_unit_test_1.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ └── st_state_2.hpp │ ├── launch │ │ └── sm_cl_ros2_timer_unit_test_1.py │ ├── package.xml │ └── src │ │ └── sm_cl_ros2_timer_unit_test_1 │ │ └── sm_cl_ros2_timer_unit_test_1_node.cpp ├── sm_multi_stage_1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_multi_stage_1_config.yaml │ ├── docs │ │ ├── SmMultiStage1_2021-11-29_0858.pdf │ │ └── SmMultiStage1_2021-11-29_0916.svg │ ├── include │ │ └── sm_multi_stage_1 │ │ │ ├── clients │ │ │ └── cl_subscriber │ │ │ │ ├── cl_subscriber.hpp │ │ │ │ └── client_behaviors │ │ │ │ ├── cb_default_subscriber_behavior.hpp │ │ │ │ └── cb_watchdog_subscriber_behavior.hpp │ │ │ ├── mode_states │ │ │ ├── ms_mode_1.hpp │ │ │ ├── ms_mode_2.hpp │ │ │ ├── ms_mode_3.hpp │ │ │ ├── ms_mode_4.hpp │ │ │ ├── ms_mode_5.hpp │ │ │ ├── ms_recovery_1.hpp │ │ │ └── ms_recovery_2.hpp │ │ │ ├── orthogonals │ │ │ ├── or_keyboard.hpp │ │ │ └── or_timer.hpp │ │ │ ├── sm_multi_stage_1.hpp │ │ │ ├── states │ │ │ ├── mode_1_sequence_a │ │ │ │ ├── sti_mode_1_sequence_a_loop.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_1.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_2.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_3.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_4.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_5.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_6.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_7.hpp │ │ │ │ ├── sti_mode_1_sequence_a_step_8.hpp │ │ │ │ └── sti_mode_1_sequence_a_step_9.hpp │ │ │ ├── mode_1_sequence_a_loop.hpp │ │ │ ├── mode_1_sequence_b │ │ │ │ ├── sti_mode_1_sequence_b_loop.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_1.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_2.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_3.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_4.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_5.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_6.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_7.hpp │ │ │ │ ├── sti_mode_1_sequence_b_step_8.hpp │ │ │ │ └── sti_mode_1_sequence_b_step_9.hpp │ │ │ ├── mode_1_sequence_b_loop.hpp │ │ │ ├── mode_1_st_observe.hpp │ │ │ ├── mode_2_sequence_a │ │ │ │ ├── sti_mode_2_sequence_a_loop.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_1.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_2.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_3.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_4.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_5.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_6.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_7.hpp │ │ │ │ ├── sti_mode_2_sequence_a_step_8.hpp │ │ │ │ └── sti_mode_2_sequence_a_step_9.hpp │ │ │ ├── mode_2_sequence_a_loop.hpp │ │ │ ├── mode_2_sequence_b │ │ │ │ ├── sti_mode_2_sequence_b_loop.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_1.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_2.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_3.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_4.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_5.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_6.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_7.hpp │ │ │ │ ├── sti_mode_2_sequence_b_step_8.hpp │ │ │ │ └── sti_mode_2_sequence_b_step_9.hpp │ │ │ ├── mode_2_sequence_b_loop.hpp │ │ │ ├── mode_2_st_observe.hpp │ │ │ ├── mode_3_sequence_a │ │ │ │ ├── sti_mode_3_sequence_a_loop.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_1.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_2.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_3.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_4.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_5.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_6.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_7.hpp │ │ │ │ ├── sti_mode_3_sequence_a_step_8.hpp │ │ │ │ └── sti_mode_3_sequence_a_step_9.hpp │ │ │ ├── mode_3_sequence_a_loop.hpp │ │ │ ├── mode_3_sequence_b │ │ │ │ ├── sti_mode_3_sequence_b_loop.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_1.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_2.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_3.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_4.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_5.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_6.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_7.hpp │ │ │ │ ├── sti_mode_3_sequence_b_step_8.hpp │ │ │ │ └── sti_mode_3_sequence_b_step_9.hpp │ │ │ ├── mode_3_sequence_b_loop.hpp │ │ │ ├── mode_3_st_observe.hpp │ │ │ ├── mode_4_sequence_a │ │ │ │ ├── sti_mode_4_sequence_a_loop.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_1.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_2.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_3.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_4.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_5.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_6.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_7.hpp │ │ │ │ ├── sti_mode_4_sequence_a_step_8.hpp │ │ │ │ └── sti_mode_4_sequence_a_step_9.hpp │ │ │ ├── mode_4_sequence_a_loop.hpp │ │ │ ├── mode_4_sequence_b │ │ │ │ ├── sti_mode_4_sequence_b_loop.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_1.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_2.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_3.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_4.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_5.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_6.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_7.hpp │ │ │ │ ├── sti_mode_4_sequence_b_step_8.hpp │ │ │ │ └── sti_mode_4_sequence_b_step_9.hpp │ │ │ ├── mode_4_sequence_b_loop.hpp │ │ │ ├── mode_4_sequence_c │ │ │ │ ├── sti_mode_4_sequence_c_loop.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_1.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_2.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_3.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_4.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_5.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_6.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_7.hpp │ │ │ │ ├── sti_mode_4_sequence_c_step_8.hpp │ │ │ │ └── sti_mode_4_sequence_c_step_9.hpp │ │ │ ├── mode_4_sequence_c_loop.hpp │ │ │ ├── mode_4_sequence_d │ │ │ │ ├── sti_mode_4_sequence_d_loop.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_1.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_2.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_3.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_4.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_5.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_6.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_7.hpp │ │ │ │ ├── sti_mode_4_sequence_d_step_8.hpp │ │ │ │ └── sti_mode_4_sequence_d_step_9.hpp │ │ │ ├── mode_4_sequence_d_loop.hpp │ │ │ ├── mode_4_st_observe.hpp │ │ │ ├── mode_5_sequence_a │ │ │ │ ├── sti_mode_5_sequence_a_loop.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_1.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_2.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_3.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_4.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_5.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_6.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_7.hpp │ │ │ │ ├── sti_mode_5_sequence_a_step_8.hpp │ │ │ │ └── sti_mode_5_sequence_a_step_9.hpp │ │ │ ├── mode_5_sequence_a_loop.hpp │ │ │ ├── mode_5_sequence_b │ │ │ │ ├── sti_mode_5_sequence_b_loop.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_1.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_2.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_3.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_4.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_5.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_6.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_7.hpp │ │ │ │ ├── sti_mode_5_sequence_b_step_8.hpp │ │ │ │ └── sti_mode_5_sequence_b_step_9.hpp │ │ │ ├── mode_5_sequence_b_loop.hpp │ │ │ ├── mode_5_st_observe.hpp │ │ │ ├── ms_recovery_1 │ │ │ │ ├── st_recovery_analyze_1.hpp │ │ │ │ ├── st_recovery_bifurcate_1.hpp │ │ │ │ ├── st_recovery_calculate_1.hpp │ │ │ │ ├── st_recovery_deliberate_1.hpp │ │ │ │ ├── st_recovery_evaluate_1.hpp │ │ │ │ ├── st_recovery_generate_1.hpp │ │ │ │ └── st_recovery_innervate_1.hpp │ │ │ └── ms_recovery_2 │ │ │ │ ├── st_recovery_analyze_2.hpp │ │ │ │ ├── st_recovery_bifurcate_2.hpp │ │ │ │ ├── st_recovery_calculate_2.hpp │ │ │ │ ├── st_recovery_deliberate_2.hpp │ │ │ │ ├── st_recovery_evaluate_2.hpp │ │ │ │ ├── st_recovery_generate_2.hpp │ │ │ │ └── st_recovery_innervate_2.hpp │ │ │ └── superstates │ │ │ ├── ss_mode_1_sequence_a.hpp │ │ │ ├── ss_mode_1_sequence_b.hpp │ │ │ ├── ss_mode_2_sequence_a.hpp │ │ │ ├── ss_mode_2_sequence_b.hpp │ │ │ ├── ss_mode_3_sequence_a.hpp │ │ │ ├── ss_mode_3_sequence_b.hpp │ │ │ ├── ss_mode_4_sequence_a.hpp │ │ │ ├── ss_mode_4_sequence_b.hpp │ │ │ ├── ss_mode_4_sequence_c.hpp │ │ │ ├── ss_mode_4_sequence_d.hpp │ │ │ ├── ss_mode_5_sequence_a.hpp │ │ │ └── ss_mode_5_sequence_b.hpp │ ├── launch │ │ └── sm_multi_stage_1.py │ ├── package.xml │ └── src │ │ └── sm_multi_stage_1_node.cpp ├── sm_multithread_test_1 │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── sm_multithread_test_1 │ │ │ ├── client_behaviors │ │ │ └── cb_timer_with_work_simulation.hpp │ │ │ ├── orthogonals │ │ │ ├── or_timer_a.hpp │ │ │ ├── or_timer_b.hpp │ │ │ ├── or_timer_c.hpp │ │ │ └── or_timer_d.hpp │ │ │ ├── sm_multithread_test_1.hpp │ │ │ └── states │ │ │ ├── st_complete.hpp │ │ │ └── st_concurrent_operation.hpp │ ├── launch │ │ ├── sm_multithread_test_1.py │ │ └── sm_multithread_test_1_single.py │ ├── package.xml │ └── src │ │ └── sm_multithread_test_1 │ │ ├── sm_multithread_test_1_node.cpp │ │ └── sm_multithread_test_1_node_single.cpp ├── sm_pack_ml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── sm_multi_stage_1_config.yaml │ ├── docs │ │ ├── SmPackMl1_2023-5-25_94813.pdf │ │ └── SmPackMl1_2023-5-25_9483.svg │ ├── include │ │ └── sm_pack_ml │ │ │ ├── clients │ │ │ └── cl_subscriber │ │ │ │ ├── cl_subscriber.hpp │ │ │ │ └── client_behaviors │ │ │ │ ├── cb_default_subscriber_behavior.hpp │ │ │ │ └── cb_watchdog_subscriber_behavior.hpp │ │ │ ├── domain_states │ │ │ ├── ds_clearing.hpp │ │ │ ├── ds_run.hpp │ │ │ ├── ds_stopped.hpp │ │ │ └── ds_stopping.hpp │ │ │ ├── j_states │ │ │ ├── js_aborted.hpp │ │ │ ├── js_aborting.hpp │ │ │ └── js_active.hpp │ │ │ ├── mode_states │ │ │ ├── ms_complete.hpp │ │ │ ├── ms_completing.hpp │ │ │ ├── ms_execute.hpp │ │ │ ├── ms_held.hpp │ │ │ ├── ms_holding.hpp │ │ │ ├── ms_idle.hpp │ │ │ ├── ms_resetting.hpp │ │ │ ├── ms_starting.hpp │ │ │ ├── ms_suspended.hpp │ │ │ ├── ms_suspending.hpp │ │ │ ├── ms_unholding.hpp │ │ │ └── ms_unsuspending.hpp │ │ │ ├── orthogonals │ │ │ ├── or_keyboard.hpp │ │ │ ├── or_subscriber.hpp │ │ │ └── or_timer.hpp │ │ │ ├── sm_pack_ml.hpp │ │ │ ├── states │ │ │ ├── completing_sequence_a │ │ │ │ ├── sti_completing_sequence_a_loop.hpp │ │ │ │ ├── sti_completing_sequence_a_step_1.hpp │ │ │ │ ├── sti_completing_sequence_a_step_2.hpp │ │ │ │ ├── sti_completing_sequence_a_step_3.hpp │ │ │ │ ├── sti_completing_sequence_a_step_4.hpp │ │ │ │ ├── sti_completing_sequence_a_step_5.hpp │ │ │ │ ├── sti_completing_sequence_a_step_6.hpp │ │ │ │ ├── sti_completing_sequence_a_step_7.hpp │ │ │ │ ├── sti_completing_sequence_a_step_8.hpp │ │ │ │ └── sti_completing_sequence_a_step_9.hpp │ │ │ ├── completing_sequence_a_loop.hpp │ │ │ ├── completing_sequence_b │ │ │ │ ├── sti_completing_sequence_b_loop.hpp │ │ │ │ ├── sti_completing_sequence_b_step_1.hpp │ │ │ │ ├── sti_completing_sequence_b_step_2.hpp │ │ │ │ ├── sti_completing_sequence_b_step_3.hpp │ │ │ │ ├── sti_completing_sequence_b_step_4.hpp │ │ │ │ ├── sti_completing_sequence_b_step_5.hpp │ │ │ │ ├── sti_completing_sequence_b_step_6.hpp │ │ │ │ ├── sti_completing_sequence_b_step_7.hpp │ │ │ │ ├── sti_completing_sequence_b_step_8.hpp │ │ │ │ └── sti_completing_sequence_b_step_9.hpp │ │ │ ├── completing_sequence_b_loop.hpp │ │ │ ├── completing_st_observe.hpp │ │ │ ├── execute_sequence_a │ │ │ │ ├── sti_execute_sequence_a_loop.hpp │ │ │ │ ├── sti_execute_sequence_a_step_1.hpp │ │ │ │ ├── sti_execute_sequence_a_step_2.hpp │ │ │ │ ├── sti_execute_sequence_a_step_3.hpp │ │ │ │ ├── sti_execute_sequence_a_step_4.hpp │ │ │ │ ├── sti_execute_sequence_a_step_5.hpp │ │ │ │ ├── sti_execute_sequence_a_step_6.hpp │ │ │ │ ├── sti_execute_sequence_a_step_7.hpp │ │ │ │ ├── sti_execute_sequence_a_step_8.hpp │ │ │ │ └── sti_execute_sequence_a_step_9.hpp │ │ │ ├── execute_sequence_a_loop.hpp │ │ │ ├── execute_sequence_b │ │ │ │ ├── sti_execute_sequence_b_loop.hpp │ │ │ │ ├── sti_execute_sequence_b_step_1.hpp │ │ │ │ ├── sti_execute_sequence_b_step_2.hpp │ │ │ │ ├── sti_execute_sequence_b_step_3.hpp │ │ │ │ ├── sti_execute_sequence_b_step_4.hpp │ │ │ │ ├── sti_execute_sequence_b_step_5.hpp │ │ │ │ ├── sti_execute_sequence_b_step_6.hpp │ │ │ │ ├── sti_execute_sequence_b_step_7.hpp │ │ │ │ ├── sti_execute_sequence_b_step_8.hpp │ │ │ │ └── sti_execute_sequence_b_step_9.hpp │ │ │ ├── execute_sequence_b_loop.hpp │ │ │ ├── execute_st_observe.hpp │ │ │ ├── holding_sequence_a │ │ │ │ ├── sti_holding_sequence_a_loop.hpp │ │ │ │ ├── sti_holding_sequence_a_step_1.hpp │ │ │ │ ├── sti_holding_sequence_a_step_2.hpp │ │ │ │ ├── sti_holding_sequence_a_step_3.hpp │ │ │ │ ├── sti_holding_sequence_a_step_4.hpp │ │ │ │ ├── sti_holding_sequence_a_step_5.hpp │ │ │ │ ├── sti_holding_sequence_a_step_6.hpp │ │ │ │ ├── sti_holding_sequence_a_step_7.hpp │ │ │ │ ├── sti_holding_sequence_a_step_8.hpp │ │ │ │ └── sti_holding_sequence_a_step_9.hpp │ │ │ ├── holding_sequence_a_loop.hpp │ │ │ ├── holding_sequence_b │ │ │ │ ├── sti_holding_sequence_b_loop.hpp │ │ │ │ ├── sti_holding_sequence_b_step_1.hpp │ │ │ │ ├── sti_holding_sequence_b_step_2.hpp │ │ │ │ ├── sti_holding_sequence_b_step_3.hpp │ │ │ │ ├── sti_holding_sequence_b_step_4.hpp │ │ │ │ ├── sti_holding_sequence_b_step_5.hpp │ │ │ │ ├── sti_holding_sequence_b_step_6.hpp │ │ │ │ ├── sti_holding_sequence_b_step_7.hpp │ │ │ │ ├── sti_holding_sequence_b_step_8.hpp │ │ │ │ └── sti_holding_sequence_b_step_9.hpp │ │ │ ├── holding_sequence_b_loop.hpp │ │ │ ├── holding_st_observe.hpp │ │ │ ├── ms_recovery_1 │ │ │ │ ├── st_recovery_analyze_1.hpp │ │ │ │ ├── st_recovery_bifurcate_1.hpp │ │ │ │ ├── st_recovery_calculate_1.hpp │ │ │ │ ├── st_recovery_deliberate_1.hpp │ │ │ │ ├── st_recovery_evaluate_1.hpp │ │ │ │ ├── st_recovery_generate_1.hpp │ │ │ │ └── st_recovery_innervate_1.hpp │ │ │ ├── ms_recovery_2 │ │ │ │ ├── st_recovery_analyze_2.hpp │ │ │ │ ├── st_recovery_bifurcate_2.hpp │ │ │ │ ├── st_recovery_calculate_2.hpp │ │ │ │ ├── st_recovery_deliberate_2.hpp │ │ │ │ ├── st_recovery_evaluate_2.hpp │ │ │ │ ├── st_recovery_generate_2.hpp │ │ │ │ └── st_recovery_innervate_2.hpp │ │ │ ├── start_sequence_a │ │ │ │ ├── sti_start_sequence_a_loop.hpp │ │ │ │ ├── sti_start_sequence_a_step_1.hpp │ │ │ │ ├── sti_start_sequence_a_step_2.hpp │ │ │ │ ├── sti_start_sequence_a_step_3.hpp │ │ │ │ ├── sti_start_sequence_a_step_4.hpp │ │ │ │ ├── sti_start_sequence_a_step_5.hpp │ │ │ │ ├── sti_start_sequence_a_step_6.hpp │ │ │ │ ├── sti_start_sequence_a_step_7.hpp │ │ │ │ ├── sti_start_sequence_a_step_8.hpp │ │ │ │ └── sti_start_sequence_a_step_9.hpp │ │ │ ├── start_sequence_a_loop.hpp │ │ │ ├── start_sequence_b │ │ │ │ ├── sti_start_sequence_b_loop.hpp │ │ │ │ ├── sti_start_sequence_b_step_1.hpp │ │ │ │ ├── sti_start_sequence_b_step_2.hpp │ │ │ │ ├── sti_start_sequence_b_step_3.hpp │ │ │ │ ├── sti_start_sequence_b_step_4.hpp │ │ │ │ ├── sti_start_sequence_b_step_5.hpp │ │ │ │ ├── sti_start_sequence_b_step_6.hpp │ │ │ │ ├── sti_start_sequence_b_step_7.hpp │ │ │ │ ├── sti_start_sequence_b_step_8.hpp │ │ │ │ └── sti_start_sequence_b_step_9.hpp │ │ │ ├── start_sequence_b_loop.hpp │ │ │ ├── start_st_observe.hpp │ │ │ ├── suspending_sequence_a │ │ │ │ ├── sti_suspending_sequence_a_loop.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_1.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_2.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_3.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_4.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_5.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_6.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_7.hpp │ │ │ │ ├── sti_suspending_sequence_a_step_8.hpp │ │ │ │ └── sti_suspending_sequence_a_step_9.hpp │ │ │ ├── suspending_sequence_a_loop.hpp │ │ │ ├── suspending_sequence_b │ │ │ │ ├── sti_suspending_sequence_b_loop.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_1.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_2.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_3.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_4.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_5.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_6.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_7.hpp │ │ │ │ ├── sti_suspending_sequence_b_step_8.hpp │ │ │ │ └── sti_suspending_sequence_b_step_9.hpp │ │ │ ├── suspending_sequence_b_loop.hpp │ │ │ ├── suspending_sequence_c │ │ │ │ ├── sti_suspending_sequence_c_loop.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_1.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_2.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_3.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_4.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_5.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_6.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_7.hpp │ │ │ │ ├── sti_suspending_sequence_c_step_8.hpp │ │ │ │ └── sti_suspending_sequence_c_step_9.hpp │ │ │ ├── suspending_sequence_c_loop.hpp │ │ │ ├── suspending_sequence_d │ │ │ │ ├── sti_suspending_sequence_d_loop.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_1.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_2.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_3.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_4.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_5.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_6.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_7.hpp │ │ │ │ ├── sti_suspending_sequence_d_step_8.hpp │ │ │ │ └── sti_suspending_sequence_d_step_9.hpp │ │ │ ├── suspending_sequence_d_loop.hpp │ │ │ └── suspending_st_observe.hpp │ │ │ └── superstates │ │ │ ├── ss_completing_sequence_a.hpp │ │ │ ├── ss_completing_sequence_b.hpp │ │ │ ├── ss_execute_sequence_a.hpp │ │ │ ├── ss_execute_sequence_b.hpp │ │ │ ├── ss_holding_sequence_a.hpp │ │ │ ├── ss_holding_sequence_b.hpp │ │ │ ├── ss_start_sequence_a.hpp │ │ │ ├── ss_start_sequence_b.hpp │ │ │ ├── ss_suspending_sequence_a.hpp │ │ │ ├── ss_suspending_sequence_b.hpp │ │ │ ├── ss_suspending_sequence_c.hpp │ │ │ └── ss_suspending_sequence_d.hpp │ ├── launch │ │ └── sm_pack_ml.py │ ├── package.xml │ └── src │ │ └── sm_pack_ml_node.cpp ├── sm_panda_cl_moveit2z_cb_inventory │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── move_group_client │ │ │ └── known_states │ │ │ │ ├── control_authority_posture.yaml │ │ │ │ ├── control_authority_posture2.yaml │ │ │ │ └── initial_posture.yaml │ │ ├── moveit │ │ │ ├── controllers.yaml │ │ │ └── kinematics.yaml │ │ └── sm_panda_cl_moveit2z_cb_inventory_config.yaml │ ├── include │ │ └── sm_panda_cl_moveit2z_cb_inventory │ │ │ ├── orthogonals │ │ │ ├── or_arm.hpp │ │ │ └── or_keyboard.hpp │ │ │ ├── sm_panda_cl_moveit2z_cb_inventory.hpp │ │ │ └── states │ │ │ ├── st_acquire_sensors.hpp │ │ │ ├── st_end_effector_rotate.hpp │ │ │ ├── st_move_cartesian_relative2.hpp │ │ │ ├── st_move_end_effector.hpp │ │ │ ├── st_move_joints_1.hpp │ │ │ ├── st_move_joints_2.hpp │ │ │ ├── st_move_joints_3.hpp │ │ │ ├── st_move_joints_4.hpp │ │ │ ├── st_move_joints_5.hpp │ │ │ ├── st_move_known_state_1.hpp │ │ │ ├── st_move_known_state_2.hpp │ │ │ ├── st_pause_1.hpp │ │ │ ├── st_pause_10.hpp │ │ │ ├── st_pause_11.hpp │ │ │ ├── st_pause_12.hpp │ │ │ ├── st_pause_13.hpp │ │ │ ├── st_pause_2.hpp │ │ │ ├── st_pause_3.hpp │ │ │ ├── st_pause_4.hpp │ │ │ ├── st_pause_5.hpp │ │ │ ├── st_pause_6.hpp │ │ │ ├── st_pause_7.hpp │ │ │ ├── st_pause_8.hpp │ │ │ ├── st_pause_9.hpp │ │ │ └── st_undo_last_trajectory.hpp │ ├── launch │ │ ├── panda_hello_moveit.rviz │ │ ├── panda_moveit_config_demo.rviz │ │ ├── panda_moveit_config_demo_empty.rviz │ │ └── sm_panda_cl_moveit2z_cb_inventory.py │ ├── package.xml │ ├── rviz │ │ └── view_robot.rviz │ └── src │ │ └── sm_panda_cl_moveit2z_cb_inventory │ │ └── sm_panda_cl_moveit2z_cb_inventory_node.cpp ├── sm_panda_cl_moveit2z_cb_inventory_isaacsim │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── move_group_client │ │ │ └── known_states │ │ │ │ ├── control_authority_posture.yaml │ │ │ │ ├── control_authority_posture2.yaml │ │ │ │ └── initial_posture.yaml │ │ ├── moveit │ │ │ ├── controllers.yaml │ │ │ └── kinematics.yaml │ │ └── sm_panda_cl_moveit2z_cb_inventory_isaacsim_config.yaml │ ├── include │ │ └── sm_panda_cl_moveit2z_cb_inventory_isaacsim │ │ │ ├── orthogonals │ │ │ ├── or_arm.hpp │ │ │ └── or_keyboard.hpp │ │ │ ├── sm_panda_cl_moveit2z_cb_inventory_isaacsim.hpp │ │ │ └── states │ │ │ ├── st_acquire_sensors.hpp │ │ │ ├── st_end_effector_rotate.hpp │ │ │ ├── st_move_cartesian_relative2.hpp │ │ │ ├── st_move_end_effector.hpp │ │ │ ├── st_move_joints_1.hpp │ │ │ ├── st_move_joints_2.hpp │ │ │ ├── st_move_joints_3.hpp │ │ │ ├── st_move_joints_4.hpp │ │ │ ├── st_move_joints_5.hpp │ │ │ ├── st_move_known_state_1.hpp │ │ │ ├── st_move_known_state_2.hpp │ │ │ ├── st_pause_1.hpp │ │ │ ├── st_pause_10.hpp │ │ │ ├── st_pause_11.hpp │ │ │ ├── st_pause_12.hpp │ │ │ ├── st_pause_13.hpp │ │ │ ├── st_pause_2.hpp │ │ │ ├── st_pause_3.hpp │ │ │ ├── st_pause_4.hpp │ │ │ ├── st_pause_5.hpp │ │ │ ├── st_pause_6.hpp │ │ │ ├── st_pause_7.hpp │ │ │ ├── st_pause_8.hpp │ │ │ ├── st_pause_9.hpp │ │ │ └── st_undo_last_trajectory.hpp │ ├── launch │ │ ├── panda_hello_moveit.rviz │ │ ├── panda_moveit_config_demo.rviz │ │ ├── panda_moveit_config_demo_empty.rviz │ │ └── sm_panda_cl_moveit2z_cb_inventory_isaacsim.launch.py │ ├── package.xml │ ├── rviz │ │ └── view_robot.rviz │ ├── scripts │ │ ├── setup_ros2_bridge.py │ │ └── trajectory_bridge.py │ └── src │ │ └── sm_panda_cl_moveit2z_cb_inventory_isaacsim │ │ └── sm_panda_cl_moveit2z_cb_inventory_isaacsim_node.cpp ├── sm_simple_action_client │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── simple_action_client_example.yaml │ │ └── simple_action_client_example_config.yaml │ ├── include │ │ └── sm_simple_action_client │ │ │ ├── fibonacci_action_client │ │ │ ├── cl_fibonacci.hpp │ │ │ └── client_behaviors │ │ │ │ └── cb_fibonacci.hpp │ │ │ ├── mode_selection_client │ │ │ ├── cl_mode_select.hpp │ │ │ └── client_behaviors │ │ │ │ └── cb_mode_select.hpp │ │ │ ├── orthogonals │ │ │ ├── or_fibonacci.hpp │ │ │ └── or_mode_select.hpp │ │ │ ├── sm_simple_action_client.hpp │ │ │ └── states │ │ │ ├── st_state_1.hpp │ │ │ ├── st_state_2.hpp │ │ │ └── st_state_3.hpp │ ├── launch │ │ └── sm_simple_action_client.py │ ├── package.xml │ ├── scripts │ │ └── auto_mode_trigger.py │ └── src │ │ └── sm_simple_action_client │ │ └── sm_simple_action_client_node.cpp └── sm_three_some │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ └── sm_three_some_config.yaml │ ├── docs │ └── SmThreeSome_2021-10-18_102812.svg │ ├── include │ └── sm_three_some │ │ ├── clients │ │ └── cl_subscriber │ │ │ ├── cl_subscriber.hpp │ │ │ └── client_behaviors │ │ │ ├── cb_default_subscriber_behavior.hpp │ │ │ └── cb_watchdog_subscriber_behavior.hpp │ │ ├── mode_states │ │ ├── ms_recover.hpp │ │ └── ms_run.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_subscriber.hpp │ │ └── or_timer.hpp │ │ ├── sm_three_some.hpp │ │ ├── states │ │ ├── inner_states │ │ │ ├── sti_state_1.hpp │ │ │ ├── sti_state_2.hpp │ │ │ └── sti_state_3.hpp │ │ ├── st_state_1.hpp │ │ ├── st_state_2.hpp │ │ ├── st_state_3.hpp │ │ └── st_state_4.hpp │ │ └── superstates │ │ ├── ss_superstate_1.hpp │ │ └── 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