ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
For #2, rqt_smach's smach_graph.py has functionality for monitoring the current state of a smach stateMachine. It is possible to build a testing framework around that.
I never found a satisfactory answer to #1; the best approach I found is to send a series of messages designed to get the state machine to the desired state, and then assert that it is there.