Run Application

    source /opt/ros/melodic/setup.bash
    cd ~/crs_ros1_ws/
    source devel/setup.bash
    roslaunch crs_support_ros1 crs_startup.launch
    

    source /opt/ros/melodic/setup.bash
    source /opt/ros/eloquent/setup.bash
    cd ~/crs_ros_bridge_ws/ 
    source install/local_setup.bash
    ros2 launch crs_bridge_support combined_bridge.launch.py
    

    source /opt/ros/eloquent/setup.bash
    cd ~/crs_ws
    source install/local_setup.bash
    ros2 launch crs_application crs.launch.xml sim:=false
    

This last command will launch the RVIZ application where you should be able to see the robot in the mockup cell along with the user interface to control the application.

    source /opt/ros/eloquent/setup.bash
    cd ~/crs_ws
    source install/local_setup.bash
    

    ros2 launch crs_application crs.launch.xml
    

This last command will launch the RVIZ application where you should be able to see the robot in the mockup cell along with the user interface to control the application.
It will start the SM and all of the required nodes.  When initialization is complete the application will go into the `Ready::Wait_User_Cmd`

    ros2 topic echo /crs/current_state
    

You should see the current state id printed on the terminal repeateadly 

    ros2 service call /crs/get_available_actions crs_msgs/srv/GetAvailableActions 'search_pattern: "user"'
    

The response may look as follows:

    response: crs_msgs.srv.GetAvailableActions_Response(action_ids=['user_done', 'user_approves'], succeeded=False, err_msg='')
    

This means the the actions "user_done" and "user_approves" are valid and can be executed. - Execute an action
In a new terminal run the following:

    ros2 service call /crs/execute_action crs_msgs/srv/ExecuteAction 'action_id: user_approves'
    

If the current state allows that action then you should see the SM transition to another state