create_your_own_state_package.md

Create your own State package

Source the installation files from the project directory.

source /opt/ros/humble/setup.bash
source smov/install/setup.bash

Note: I personally recommend to add these in ~/.bashrc to make it easier for you to develop State packages in the future.

Create a directory where you will store your State packages.

mkdir state_workspace/
cd state_workspace/

Clone the State template that you will use to create your State package.

git clone https://github.com/vertueux/smov_state

You can now modify the package as you wish, by renaming it and adding new features.

Run it properly

Here is the general method to run your State package properly with the SMOV States package.

On the first terminal

Navigate to the project directory, source the installation files, then launch one of the launch files.

source /opt/ros/humble/setup.bash
cd ~/smov
source install/setup.bash

• If you are using only one microcontroller:

ros2 launch smov_bringup smov_single_board.launch.py

• If you are using two microcontrollers:

ros2 launch smov_bringup smov_dual_board.launch.py

On the second terminal

Source the installation files from the project directory.

source /opt/ros/humble/setup.bash
source smov/install/setup.bash

Navigate to your workspace directory, source the installation files (after building it with the command colcon build), then run your package package.

cd state_workspace/
source install/setup.bash
ros2 run [state_name] state 

Next step: Have fun with your robot.