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Best implementation of robot state control

asked 2015-01-08 05:23:12 -0500

Hunk gravatar image

Hello, i have a simple robot which different states:

  • idle
  • do something
  • do something else
  • ...

I wanted to change my states with some button inputs and every state has it own node.

I thought about a state machine with smach, but smach isn't under developing at the moment. Or can I use actionlib for that? I also found the package decision_making

What is the best approach to implement this in your experience? Or do you use something without ROS?

Thanks for your help

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answered 2015-01-08 10:34:07 -0500

Bill Smart gravatar image

smach is probably the best option. It's not currently under development, but it works well, and and covers exactly what you want to do.

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Thank you for your answer. Do you have a example/tutorial for smach with catkin_make? I tried it with groovy but it didn't work

Hunk gravatar image Hunk  ( 2015-01-09 01:32:36 -0500 )edit

answered 2016-02-09 21:24:46 -0500

carlosjoserg gravatar image

You should give decision_making a try as well.

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answered 2016-02-10 01:33:05 -0500

gvdhoorn gravatar image

Another suggestion: flexbe.

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Asked: 2015-01-08 05:23:12 -0500

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Last updated: Feb 10 '16