def main():
rospy.init_node('smach_example_state_machine')
# Create the top level SMACH state machine
sm_top = smach.StateMachine(outcomes=['outcome5'])
# Open the container
with sm_top:
smach.StateMachine.add('BAS', Bas(),
transitions={'outcome3':'SUB'})
# Create the sub SMACH state machine
sm_sub = smach.StateMachine(outcomes=['outcome4'])
# Open the container
with sm_sub:
# Add states to the container
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR',
'outcome2':'outcome4'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome1':'FOO'})
smach.StateMachine.add('SUB', sm_sub,
transitions={'outcome4':'outcome5'})
# Execute SMACH plan
outcome = sm_top.execute()
def main():
rospy.init_node('smach_example_state_machine')
# Create the top level SMACH state machine
sm_top = smach.StateMachine(outcomes=['outcome6'])
# Open the container
with sm_top:
smach.StateMachine.add('BAS', Bas(),
transitions={'outcome3':'CON'})
# Create the sub SMACH state machine
sm_con = smach.Concurrence(outcomes=['outcome4','outcome5'],
default_outcome='outcome4',
outcome_map={'outcome5':
{ 'FOO':'outcome2',
'BAR':'outcome1'}})
# Open the container
with sm_con:
# Add states to the container
smach.Concurrence.add('FOO', Foo())
smach.Concurrence.add('BAR', Bar())
smach.StateMachine.add('CON', sm_con,
transitions={'outcome4':'CON',
'outcome5':'outcome6'})
# Execute SMACH plan
outcome = sm_top.execute()
def main():
rospy.init_node('smach_example_state_machine_nesting')
# Create a SMACH state machine
sm0 = smach.StateMachine(outcomes=['succeeded'])
# Open the container
with sm0:
# Add states to the container
smach.StateMachine.add('SET', Setter(val='hello'), {'set_it':'NESTED'})
sm1 = smach.StateMachine(outcomes=['done'], input_keys=['x'])
smach.StateMachine.add('NESTED', sm1, {'done':'succeeded'})
with sm1:
smach.StateMachine.add('GET', Getter(), {'got_it':'done'})
# Execute SMACH plan
outcome = sm0.execute()
def main():
rospy.init_node('smach_example_actionlib')
# Start an action server
server = TestServer('test_action')
# Create a SMACH state machine
sm0 = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
# Open the container
with sm0:
# Add states to the container
# Add a simple action sttate. This will use an emtpy, default goal
# As seen in TestServer above, an empty goal will always return with
# GoalStatus.SUCCEEDED, causing this simple action state to return
# the outcome 'succeeded'
smach.StateMachine.add(
'GOAL_DEFAULT',
smach_ros.SimpleActionState('test_action', TestAction),
{'succeeded': 'GOAL_STATIC'})
# Add another simple action state. This will give a goal
# that should abort the action state when it is received, so we
# map 'aborted' for this state onto 'succeeded' for the state machine.
smach.StateMachine.add(
'GOAL_STATIC',
smach_ros.SimpleActionState('test_action',
TestAction,
goal=TestGoal(goal=1)),
{'aborted': 'GOAL_CB'})
# Add another simple action state. This will give a goal
# that should abort the action state when it is received, so we
# map 'aborted' for this state onto 'succeeded' for the state machine.
def goal_callback(userdata, default_goal):
goal = TestGoal()
goal.goal = 2
return goal
smach.StateMachine.add(
'GOAL_CB',
smach_ros.SimpleActionState('test_action',
TestAction,
goal_cb=goal_callback),
{'aborted': 'succeeded'})
# For more examples on how to set goals and process results, see
# executive_smach/smach_ros/tests/smach_actionlib.py
# Execute SMACH plan
outcome = sm0.execute()
rospy.signal_shutdown('All done.')
def main():
rospy.init_node('smach_example_user_data')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['succeeded'])
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('SET', Setter(), {'set_it': 'GET'})
smach.StateMachine.add('GET', Getter(), {'got_it': 'succeeded'})
# Execute SMACH plan
outcome = sm.execute()
def main():
rospy.init_node('smach_example_state_machine')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['succeeded', 'aborted'])
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('FOO', ExampleState(), {'done': 'BAR'})
smach.StateMachine.add('BAR', ExampleState(), {'done': 'BAZ'})
smach.StateMachine.add('BAZ', ExampleState(), {'done': 'succeeded'})
# Execute SMACH plan
outcome = smach. async .run(sm.execute_async())
def main():
rospy.init_node('smach_example_state_machine')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['outcome4', 'outcome5'])
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR',
'outcome2':'outcome4'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome2':'FOO'})
# Execute SMACH plan
outcome = sm.execute()
def radio_sm(iface):
sm = smach.StateMachine(outcomes=[], input_keys=['radio'])
smadd = smach.StateMachine.add
with sm:
smadd('DOWN', Down(), transitions={'up': 'UNASSOCIATED'})
smadd('UNASSOCIATED',
Unassociated(),
transitions={
'associate': 'ASSOCIATING',
'down': 'DOWN'
})
smadd('ASSOCIATING',
Associating(),
transitions={
'associated': 'ASSOCIATED',
'failed': 'DOWN'
})
smadd('ASSOCIATED',
Associated(),
transitions={
'reassociate': 'ASSOCIATING',
'activate': 'ACTIVE',
'unassociated': 'DOWN'
})
smadd('ACTIVE',
Active(),
transitions={
'disactivate': 'DISACTIVATING',
'unassociated': 'DOWN'
})
smadd('DISACTIVATING',
Disactivating(),
transitions={
'done': 'ASSOCIATED',
'activate': 'ACTIVE',
'unassociated': 'DOWN'
})
ud = smach.UserData()
ud.radio = RadioSmData(iface)
sm.register_transition_cb(_state_change_cb)
sm.execute_async(ud)
return ud.radio
def main():
rospy.init_node('smach_example_state_machine')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['outcome4'])
sm.userdata.sm_counter = 0
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR',
'outcome2':'outcome4'},
remapping={'foo_counter_in':'sm_counter',
'foo_counter_out':'sm_counter'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome1':'FOO'},
remapping={'bar_counter_in':'sm_counter'})
# Execute SMACH plan
outcome = sm.execute()
