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Is SMACH unmaintained?

asked 2019-07-24 11:04:11 -0600

Frimann gravatar image

updated 2019-07-26 10:24:08 -0600

jayess gravatar image

I see that the SMACH github page hasn't been updated for at least a year. Is SMACH depricated?


And if FlexBE is considered a better alterntative for a state machine?

I'm asking since SMACH (and smach_viewer) doesn't seem to have been updated for at least a year:

and FlexBE was updated just 2 months ago:

My project needs a state machine, but it's a very simple project when compared to running a whole robot. So we don't need anything fancy, just a simple state machine. But would prefer that it wouldn't get deprecated in a year or two.

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answered 2019-07-27 04:15:34 -0600

To the best of my knowledge, smach is not deprecated. And for sure, I still maintain FlexBE and develop new features from time to time. In fact, FlexBE internally relies on some smach core functionality and my experience with it is quite good. However, I cannot comment on the more specific smach functionality like smach_ros or the visualization, although I experienced problems with it when I used it a few years ago.

The main motivation for developing FlexBE was that some features where missing for us in smach. This includes for example a good visualization, a visual editor, an efficient runtime monitoring, a way for operator-robot shared autonomy, and in terms of software development, a clear structure of how to define and test re-usable state definitions. All this is addressed in FlexBE. Anyways, smach is great work and if you are confident that you only need a very simple statemachine and nothing like an editor or so, smach should be a good and sufficient choice as well.

In any case, feel free to contact me via the contact form of the FlexBE website or Github if you have feedback regarding FlexBE. :)

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Thank you for the answer. Glad to hear that Smach is not depricated. I decided on starting my project in Smach since I'm running out on time. But I like to the added features you talk about, and would love to migrate my project in the future over to FlexBE. On that regard, is there anything I should keep in mind when developing my project in Smach, in order to have it easily converted to use FlexBE?

Frimann gravatar image Frimann  ( 2019-07-29 09:25:40 -0600 )edit

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Asked: 2019-07-24 11:04:11 -0600

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Last updated: Jul 27 '19