executive_smach

Description

SMACH is a task-level architecture for rapidly creating complex robot behavior.

Software Architecture

Software architecture description

​ This metapackage depends on the SMACH library and ROS SMACH integration packages.

When should I use SMACH?

SMACH is useful when you want a robot to execute some complex plan, where all possible states and state transitions can be described explicitly. This basically takes the hacking out of hacking together different modules to make systems like mobile robotic manipulators do interesting things.

• Fast prototyping: The straightforward Python-based SMACH syntax makes it easy to quickly prototype a state machine and start running it.
• Complex state machines: SMACH allows you to design, maintain and debug large, complex hierarchical state machines. You can find an example of a complex hierarchical state machine here.
• Introspection: SMACH gives you full introspection in your state machines, state transitions, data flow, etc. See the smach_viewer for more details.

When should I NOT use SMACH?

• Unstructured tasks: SMACH will fall short as the scheduling of your task becomes less structured.
• Low-level systems: SMACH is not meant to be used as a state machine for low-level systems that require high efficiency, SMACH is a task-level architecture.
• Smash: Do not use SMACH when you want to smash something, for that use smash.

Is SMACH only a finite state machine library?

You can build a finite state machine using SMACH, but SMACH can do much more. SMACH is a library for task-level execution and coordination, and provides several types of "state containers". One such container, is a finite state machine, but this container can also be a state in another container. See the tutorials page for a list of containers and states built into SMACH.

Installation

1. Dowload RPM

   wget http://121.36.3.168:82/home:/Chenjy9581/openEuler_21.03_standard_aarch64/aarch64/executive_smach-2.5.0-1.oe1.aarch64.rpm
   

2. Install RPM

   sudo rpm -ivh executive_smach-2.5.0-1.oe1.aarch64.rpm
   

Instructions

​ Exit the executive_smach file under the /opt/ros/noetic/devel_isolated/ directory , Prove that the software installation is successful

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

Gitee Feature

1. You can use Readme_XXX.md to support different languages, such as Readme_en.md, Readme_zh.md
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