fsm

Package overview

This package is for high level state_machine code for the competition

It is going to have code for a Finite State Machine (usign the ros smach package)

NOTE: there is a bug with smach that you sometimes can't kill it with CTRL+C. There are a few solutions to this problem.

1. Go into teleop mode and double tap the select button. Then kill the node normally.
2. Run ps -x, find the pid of the node and kill -9 <PID> it.)

Here is an example of a prototype state machine from last year

Get Started

To get started, build your workspace with this package, and run

roslaunch amee_2dnav all.launch 

roslaunch fsm test.launch

rosrun fsm competition_smach.py

and rviz will also be helpful

rviz

You will want to read over the documentation for the smach package to figure out what is going on.

About smach

Here are some notes from last year:

To view the current state of the smach, run: rosrun rqt_smach rqt_smach NOTE: If you are running this on your own smach, you must add the introspection server, see competition_smach.py.

smach is a ROS package that allows you to create state machines, good for linking together several actions and behaviors in sequence for more complicated autonomous behavior. It was used by Willow Garage in their milestone with the PR2, including being able to plug itself in.

The code for our state machine lives in the competition_smach.py file. The top level consists of a Concurrence container for autonomy and a MonitorState for teleop. The Concurrence container allows us to run a MonitorState at the same time as the main autonomy path. We listen to the /teleop_toggle topic, and if anything is published to this topic, we abort all of the autonomy sequence and enter teleop mode.