#! /usr/bin/env python
import rospy
# For the state machine
from StateMachine import Smach
# To graph the state machine diagram
# import pygraphviz
# ROS messages and services
from std_msgs.msg import String, Int32
# from eagle_one_test.msg import State
# Initialize the state machine and variables
smach = Smach()
state = String()
transition = String()
# Callback functions to handle the data along the /smach/transition topic
def transition_cb(msg):
transition.data = msg.data
# ROS initializations
rospy.init_node('qc_smach_server')
rospy.loginfo("Hulk Smach!") # Let's us know that this has loaded
rate = rospy.Rate(100) # 100Hz
# Setup the publishers and subscribers
state_pub = rospy.Publisher('/smach/state', String, queue_size=100000)
