Ailibot入门教程-应用-SMACH状态机

Ailibot入门教程-应用-SMACH状态机

说明

• 介绍如何在Ailibot上应用SMACH状态机

相关设备：

• Ailibot套件，采购地址

前提准备

• [Remote PC] 安装

$ sudo apt-get install ros-kinetic-executive-smach ros-kinetic-executive-smach-visualization

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [Remote PC] 在ailibot_apps包中存放着一些例子，现在运行其中的一个

$ rosrun ailibot_apps concurrence.py 
[INFO] [1567066342.777881]: State machine starting in initial state 'FOO' with userdata: 
    ['sm_counter']
[INFO] [1567066342.778256]: Executing state FOO
[INFO] [1567066342.778475]: State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [1567066342.778760]: Executing state BAR
[INFO] [1567066342.778947]: Counter = 1.000000
[INFO] [1567066342.779121]: State machine transitioning 'BAR':'outcome1'-->'FOO'
[INFO] [1567066342.779356]: Executing state FOO
[INFO] [1567066342.779545]: State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [1567066342.779833]: Executing state BAR
[INFO] [1567066342.780011]: Counter = 2.000000
[INFO] [1567066342.780181]: State machine transitioning 'BAR':'outcome1'-->'FOO'
[INFO] [1567066342.780410]: Executing state FOO
[INFO] [1567066342.780651]: State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [1567066342.780922]: Executing state BAR
[INFO] [1567066342.781096]: Counter = 3.000000
[INFO] [1567066342.781264]: State machine transitioning 'BAR':'outcome1'-->'FOO'
[INFO] [1567066342.781488]: Executing state FOO
[INFO] [1567066342.781713]: State machine terminating 'FOO':'outcome2':'outcome4'

• [Remote PC] 启动smach_viewer可视化界面

$ rosrun smach_viewer smach_viewer.py