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executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

  • Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
  • Author: Jonathan Bohren
  • License: BSD
executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

The smach_ros package contains extensions for the SMACH library to integrate it tightly with ROS. For example, SMACH-ROS can call ROS services, listen to ROS topics, and integrate with actionlib both as a client, and a provider of action servers. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

ROS integration

For example, if you want to call an actionlib action from SMACH, you can of course write a generic state, which would look something like this:

   1   class ManualActionState(smach.State):
   2      def __init__(self, outcomes=['succeeded', 
   3                                   'aborted',
   4                                   'preempted']):
   5        self.action_client = SimpleActionClient('action_name',
   6                                                ActionType)
   7        self.action_client.wait_for_server()
   8 
   9      
  10      def execute(self, userdata):
  11        goal = ActionGoal()
  12        ret = self.action_client.send_goal_and_wait
  13        if ret == ActionStatus.SUCCEEDED:
  14           return 'succeeded'
  15        elif ret == ActionStatus.PREEMPTED:
  16           return 'preempted'
  17        elif ret == ActionStatus.ABORTED:
  18           return 'aborted' 
  19 
  20 
  21 sm = StateMachine(['succeeded','aborted','preempted'])
  22 with sm:
  23     smach.StateMachine.add('TRIGGER_GRIPPER',
  24                            ManualActionState(),
  25                            rransitions={'succeeded':'APPROACH_PLUG'})

But you can call that same action with much less coding, using the SimpleActionState:

   1 sm = StateMachine(['succeeded','aborted','preempted'])
   2 with sm:
   3     smach.StateMachine.add('TRIGGER_GRIPPER',
   4                            SimpleActionState('action_server_namespace',
   5                                              ActionState),
   6                            transitions={'succeeded':'APPROACH_PLUG'})

SMACH ROS offers the same type of support for ROS services and ROS topics. For more details take a look at the tutorials.


2019-07-20 13:14