I know now robots mostly move autonomously. However in my project, there is a need for "adjustable autonomy".From the lowest autonomy:manual operation to highest autonomy: autonomously action. There is also a transitional state in the middle. I have read many papers about "sliding autonomy" but never find a useful open-source code. I now get the ROS-Smach to implement Task level scheduling, but it lacks the concept of autonomy level. I have downloaded FlexBE,unluckily we may not use its interface. Is there anyone with similar project needs here, can you give me some experience about sliding autonomy?