Usage

rosrun smach_recovery_viewer smach_viewer.py

This will start the GUI and help visualize the transitions in the state machine much like in the original SMACH package. The GUI also shows you the ORACLE state which controls failure recovery.

Your state machine needs to run an introspection server to allow the smach recovery viewer to connect to it. See this tutorial for more details.

Documentation

The functionality provided in the smach_recovery_viewer is similar to the smach_viewer. It also provides the added functionality of viewing the oracle transitions and current transition matrices along with failure rates.

State Machines written for RECOVERY SMACH will not work with the regular SMACH VIEWER you need to use the SMACH RECOVERY VIEWER. However state machines written for regular SMACH can be used with the RECOVERY SMACH VIEWER if the proper packages are imported