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Added an example to show the new HTTP client in action. Example based on SM_ATOMIC
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‎smacc_sm_reference_library/sm_atomic_http/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package sm_atomic
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Forthcoming
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-----------
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* creating feature smacc_runtime test
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* Merge branch 'master' into melodic-devel
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* adding xterm dependency to examples
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* Final CbTimer Push
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* Merge branch 'master' into melodic-devel
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* fixed Doxygen Client Namespaces
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* refactoring client namespaces names
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* Merge branch 'master' into melodic-devel
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* sm_atomic diagrams
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* Update README.md
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Improved sm_atomic
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* more formatting & commenting
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* renaming runtimeConfiguration to runtimeConfigure
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* pushing renaming of runtimeConfigure
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* more on smacc behaviors
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* Changed static_configure to configure_orthogonal
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* unpushed code
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* Replaced all smacc::transition's with Transition
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* Update README.md
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* Adding sm images
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* adding launch file to sm_atomic
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* Renaming transition
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* sm dance bot and refactoring namings
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* namespaces iteration 3, orthogonal recurrent pattern, more tsts on sm_dance_bot_2
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* more refactoring and renaming examples and namespaces
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* progressing in the API and testing timers and callbacks
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* ros timer client behaviors, refactoring sm_atomic and logic unit hierarchy. other improvements on rosout
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Create README.md
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* more naming refactoring in move_base_z_client
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* renaming move_base client to ClMoveBaseZ (zorro)
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* renaming orthogonals
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* more on refactoring renaming
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* adding object tagging to clients, specifically action clients
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* renaming consistently SmAtomic
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* testing countdown logic unit more refactoring and analyzing propagating issue
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* Contributors: Brett Aldrich, Pablo Iñigo Blasco, Pabo Iñigo Blasco, Unknown, Víctor Ferrer García, [email protected], brettpac, pablo.inigo.blasco, reelrbtx
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* creating feature smacc_runtime test
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* Merge branch 'master' into melodic-devel
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* adding xterm dependency to examples
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* Final CbTimer Push
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* Merge branch 'master' into melodic-devel
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* fixed Doxygen Client Namespaces
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* refactoring client namespaces names
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* Merge branch 'master' into melodic-devel
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* sm_atomic diagrams
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* Update README.md
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Improved sm_atomic
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* more formatting & commenting
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* renaming runtimeConfiguration to runtimeConfigure
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* pushing renaming of runtimeConfigure
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* more on smacc behaviors
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* Changed static_configure to configure_orthogonal
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* unpushed code
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* Replaced all smacc::transition's with Transition
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* Update README.md
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* Adding sm images
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* Update README.md
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* Update README.md
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* Merge branch 'master' of https://github.com/reelrbtx/SMACC
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* Update README.md
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* adding launch file to sm_atomic
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* Renaming transition
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* sm dance bot and refactoring namings
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* namespaces iteration 3, orthogonal recurrent pattern, more tsts on sm_dance_bot_2
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* more refactoring and renaming examples and namespaces
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* progressing in the API and testing timers and callbacks
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* ros timer client behaviors, refactoring sm_atomic and logic unit hierarchy. other improvements on rosout
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Update README.md
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* Create README.md
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* more naming refactoring in move_base_z_client
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* renaming move_base client to ClMoveBaseZ (zorro)
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* renaming orthogonals
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* more on refactoring renaming
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* adding object tagging to clients, specifically action clients
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* renaming consistently SmAtomic
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* testing countdown logic unit more refactoring and analyzing propagating issue
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* Contributors: Brett Aldrich, Pablo Iñigo Blasco, Pabo Iñigo Blasco, Unknown, Víctor Ferrer García, [email protected], brettpac, pablo.inigo.blasco, reelrbtx

‎smacc_sm_reference_library/sm_atomic_http/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(sm_atomic_http)
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## Find catkin macros and libraries
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find_package(catkin REQUIRED smacc ros_timer_client)
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include(FetchContent)
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FetchContent_Declare(
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cpr
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GIT_REPOSITORY https://github.com/libcpr/cpr.git
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GIT_TAG 6ea2dec23c3df14ac3b27b7d2d6bbff0cb7ba1b0
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) # The commit hash for 1.8.1. Replace with the latest from: https://github.com/libcpr/cpr/releases
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FetchContent_MakeAvailable(cpr)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package()
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###########
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## Build ##
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###########
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set(CMAKE_CXX_STANDARD 14)
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add_compile_options(-std=c++11) #workaround for ubuntu 16.04, to extinguish
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ executable
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add_executable(${PROJECT_NAME}_node src/sm_atomic_http_node.cpp)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}_node
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${catkin_LIBRARIES}
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cpr::cpr
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)
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#############
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## Install ##
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#############
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## Mark executables for installation
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install(TARGETS ${PROJECT_NAME}_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark other files for installation (e.g. launch and config files, etc.)
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install(FILES
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launch/sm_atomic.launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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install(DIRECTORY
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config/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
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)

‎smacc_sm_reference_library/sm_atomic_http/README.md‎

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<h2>State Machine Diagram</h2>
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<img src="https://github.com/reelrbtx/SMACC/blob/master/smacc_sm_reference_library/sm_atomic/docs/smacc_state_machine_20200207-004740.dot.svg" width="950" align="center" border="10"/>
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<h2>Description</h2> A completely minimal state machine example.<br></br>
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<a href="https://reelrbtx.github.io/SMACC_Documentation/master/html/namespacesm__atomic.html">Doxygen Namespace & Class Reference</a>
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<h2>Build Instructions</h2>
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Before you build, make sure you've installed all the dependencies...
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```
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rosdep install --from-paths src --ignore-src -r -y
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```
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Then you build with either catkin build or catkin make...
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```
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catkin build
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```
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<h2>Operating Instructions</h2>
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After you build, remember to source the proper devel folder...
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```
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source ~/catkin_ws/devel/setup.bash
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```
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And then run the launch file...
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```
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roslaunch sm_atomic sm_atomic.launch
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```
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<h2>Viewer Instructions</h2>
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If you have the SMACC Viewer installed then type...
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```
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rosrun smacc_viewer smacc_viewer_node.py
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```
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If you don't have the SMACC Viewer installed, click <a href="http://smacc.ninja/smacc-viewer/">here</a> for instructions.

‎smacc_sm_reference_library/sm_atomic_http/config/sm_atomic_http_config.yaml‎

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SmAtomicHttp:
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signal_detector_loop_freq: 20

‎smacc_sm_reference_library/sm_atomic_http/config/sm_atomic_http_test.yaml‎

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state_machine_rosparam_ws: /SmAtomicHttp
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success_switch:
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- type: state_reached
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state_name: "sm_atomic_http::State2"
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failure_switch:
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- type: timeout
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duration: 10.0 # sec

‎smacc_sm_reference_library/sm_atomic_http/docs/smacc_state_machine_20200207-004735.dot.pdf‎

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‎smacc_sm_reference_library/sm_atomic_http/docs/smacc_state_machine_20200207-004740.dot.svg‎

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‎smacc_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/cl_http.h‎

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#include <smacc/client_bases/smacc_http_client.h>
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#include <smacc/smacc.h>
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namespace sm_atomic_http {
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template <typename TSource, typename TOrthogonal>
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struct EvHttp : sc::event<EvHttp<TSource, TOrthogonal>> {};
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class ClHttp : public smacc::client_bases::SmaccHttpClient {
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public:
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ClHttp(const std::string& server, const int& timeout)
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: smacc::client_bases::SmaccHttpClient(server, timeout) {}
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};
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} // namespace sm_atomic_http

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