Philipp Schillinger's profile - activity

Not quite, but both alternatives have their use cases. Difference is exiting vs. pausing. When using the priority contai

Hi, you are right in that a priority container will prevent other states from executing as soon as it is entered. More p

You can give FlexBE a try, see Homepage or Tutorials. Not sure if it's a overkill in your case, though. But if you consi

To the best of my knowledge, smach is not deprecated. And for sure, I still maintain FlexBE and develop new features fro

Thanks for pointing this out! Apparently, I missed it when I updated the tutorial from its previous version. You can in

Thank you for your question! The "View Source" should normally work without any additional configuration and as you cor

I think this is not covered in one of the tutorials yet, but I am working on a new set of tutorials where this will be i

I see. Yes, the new app uses ROS directly on the system, there is no websocket like rosbridge used anymore. I updated my

Hey Christian, thank you for your interest in FlexBE! We are aware of the Chrome App EOL, see statement here. There is

Hey Christian, thank you for your interest in FlexBE! We are aware of the Chrome App EOL, see statement here. There is

The error should occur in the case that sentence.find('GGA') > 0 evaluates to False. Then, although being declared, hora is not defined, i.e., didn't get assigned any value.

It is completely fine to use a userdata key as input and output. If you need to use a custom class instantiation in userdata, this reflects the fact that calling methods on this object might have side effects.

Could you provide the code leading to this error?

Anyways, it sound like you are calling smach.StateMachine.add(...) outside of a with my_statemachine: environment.

Not sure if this is the reason here, but could very well be the case: If a userdata key is only declared as input key, but not as output key, it is read-only. This could explain why it appears as Const object.

Could you try to declare it as output key as well in the second state?

Userdata should only be accessed within states/containers which declare read (input key) or write (output key) access, although it is usually fine to initialize internal userdata keys on container construction.

Anyways, your example fails for the following reason: The key sm_data is only written by state Foo. Consequently, it only exists after the state returns with one of its outcomes (assuming the state declared foo_counter_out as output key). This won't happen before calling sm_top.execute(), which is after the print statement in your example. Before the very last line, you only construct the state machine, but do not execute it.

Yes, a userdata key can be passed to any amount of states. Consider it just as a variable to be updated during state machine execution.

FlexBE is known to work with ROS kinetic and builds upon smach. It also features an extensive user interface, including a state machine viewer and graphical editor.

It looks like you "immediately" publish your messages after advertising the topic. Your publishers are probably not up when sending the messages, thus they are just dropped.

There is no built-in way of reliably waiting on the publishers to be up. However, you can latch the topic if messages are not published repeatedly / with a fixed rate (see 1.2):

ros::Publisher publisher = nh.advertise<std_msgs::Int32MultiArray>("Topic_1",1000, true);

Oh, there is "(More)" button... ;) Yes, they look similar. I agree that it really sounds related to this brew thing. But since I don't have access to OSX, I don't have any experience with it, sorry!

I would really like to help you better, but at least I can tell that the JS code is correct as your exact setup runs for me and prints the expected messages. Only difference is that I am running Ubuntu, but I have no idea how this is related to the problem.

Looks like AMCL is not running properly. Could you add the content of your roslaunch relaxed_astar test.launch file? Does it contain all of this?:

You must now bringup your turtlebot. You need to launch minimal.launch, 3dsensor.launch, amcl.launch.xml and move_base.launch.xml. Here is an example of launch file that can be used for this purpose.

Oh, ok. Could you clarify "values"? Are you referring to tf transformations like printed by rosrun tf tf_echo?

Looks like there is one "config" too much, try this:

log4j.logger.ros.chapter3_tutorials=ERROR

Note that (ros wiki):

If there is only one position model defined in the world file, all of these topics appear at the top namespace. However, if more than 1 position models exist, these topics are pushed down into their own namespaces, by prefixing the topics with robot_/ , e.g., robot_0/cmd_vel etc.

robot_state_publisher builds the tf tree for your robot, you can display it in Rviz by adding a tf visualization.

But it rather sounds like you are looking for something like AMCL or robot_localization.

I just pushed an update. Your first configuration would now work as well and even simply passing ~/catkin_ws/src in order to use all states inside your workspace is possible.

Hey,

this results from the FlexBE App configuration. As you wrote, you added ~/catkin_ws/src/flexbe_behavior_engine/flexbe_states to the "State Library" panel.

Correct would be in this case: ~/catkin_ws/src/flexbe_behavior_engine/flexbe_states/src/flexbe_states (see installation guidelines on the homepage: "Make sure to add the folder which contains the states, not the ROS package itself (i.e. ... /flexbe_behavior_engine/flexbe_states/src/flexbe_states)".

I guess I need to make it more obvious, sorry! Or just make it also work this way. Just ask if there are further problems and thank you for trying FlexBE. :)