Demos

YouTube Channel: https://www.youtube.com/channel/UC3sUMYOmWi_DC6_bnEu-LgQ

SMACC2 Demos

SMACC state machine autonomously controlling the PX4 flight stack – Source Code

Let’s Dock! – Source Code

This is what an autonomous application demo should look like – Source Code

Autonomous Exploration & Mapping with SMACC inside Isaac Sim – Source Code

SMACC First Demo UE5 – Source Code

SMACC2 demonstrates concurrent control of two robotic arms using ROS2, MoveIt2 and ros2_control – Source Code

Dance Party at AWS Warehouse Demo 3 – Source Code

Dance Party at AWS Warehouse Demo 2 – Source Code

Dance Party at AWS Warehouse Demo 1 – Source Code

SMACC2, an open source, event driven, asynchronous, behavioral state machine library for ROS2

Pattern Reference State Machines

These minimal state machines have no hardware dependencies and are designed to demonstrate specific SMACC2 patterns. They run on any ROS2 system with a keyboard and timer.

sm_retry_logic_1 – Source Code

Demonstrates a state reactor (SrEventCountdown) placed in a superstate (SsAttemptTask) to count failures across inner state transitions. The reactor accumulates timer timeouts and manual ‘f’ keypresses across the StIdle ↔ StAttempting inner loop without being reset by inner transitions. After 3 failures the superstate exits to StExhausted; pressing ‘s’ at any time exits to StSuccess. Illustrates the container-state reactor pattern for retry logic and fault tolerance.

sm_mode_state_behavior_1 – Source Code

Demonstrates a client behavior (CbDefaultKeyboardBehavior) placed at the mode state level (MsRunning) so it persists across all inner superstate and leaf state transitions. Leaf states react to keyboard events generated by the single mode-state behavior instance without owning their own keyboard behavior, eliminating the double-event problem. Pressing ‘n’ advances to the next leaf state within the current superstate; pressing ‘f’ switches between SsPhase1 and SsPhase2. The keyboard behavior is created once when MsRunning enters and never restarted during any inner transition.