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Using Smach and SimpleActionState

asked 2011-03-11 17:04:37 -0500

Homer Manalo gravatar image

I have some questions about using SimpleActionState with Smach:

  • How does one define/set the action as succeeded, preempted, or aborted? Or is this set in the actionlib server using set_succeeded, etc.?
  • If this is set using the actionlib server can I still have a custom outcome? If yes, how?
  • Do I still need to define a new class or function to handle the states or do I just have to add the states (using StateMachine.add)?
  • Do I need to manually run actionlib servers or is this automatically run by smach?
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answered 2011-03-12 13:52:30 -0500

fergs gravatar image

How does one define/set the action as succeeded, preempted, or aborted? Or is this set in the actionlib server using set_succeeded, etc.?

I've not used SMACH with actions, but I have been using SMACH quite a bit with services. I believe the implementations are similar, in which case you'd get the outcomes from the action server. If you wanted custom outcomes, you'd probably have to write your own state.

Do I still need to define a new class or function to handle the states or do I just have to add the states (using StateMachine.add)?

If you use the SimpleActionState, then no, you do not need to define a new class. You do have to create an instance of the SimpleActionState class and in the process fill in a few details (namely the name of the service, what goal to supply, and what states to transition to on each outcome).

Do I need to manually run actionlib servers or is this automatically run by smach?

Yes, you'll need to start them manually (a launch file might be handy here).

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Asked: 2011-03-11 17:04:37 -0500

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Last updated: Mar 12 '11