SMACH 教程

学习 SMACH

如果你想要查看代码，尝试学习示例代码。如果倾向遵循循序渐进指南，查看循序渐进教程。

循序渐进学习

学习示例代码

Writing Custom Container Classes
Most tasks can be performed without writing new types of container classes, but this tutorial explains how to write a new one.
State Preemption Implementation
This tutorial shows how to implement simple flag-based preemption in SMACH states.
StateMachinePreemption
Example of a state machine that implements preemption, using a concurrence container and monitor state.
Writing Custom State Classes with User-defined Callbacks
Sometimes you want to create a state class like smach.SimpleActionState which receives user callbacks as arguments. If these callbacks change the SMACH interface of a state (outcomes, userdata keys), then the callbacks need to be annotated with this information.
State Preemption Implementation
This tutorial shows how to implement simple flag-based preemption in SMACH states.
Writing Custom Container Classes
Most tasks can be performed without writing new types of container classes, but this tutorial explains how to write a new one.
Writing Custom State Classes with User-defined Callbacks
Sometimes you want to create a state class like smach.SimpleActionState which receives user callbacks as arguments. If these callbacks change the SMACH interface of a state (outcomes, userdata keys), then the callbacks need to be annotated with this information.
StateMachinePreemption
Example of a state machine that implements preemption, using a concurrence container and monitor state.

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如果你有兴趣测试你的SMACH认知，这个界面有一个循序渐进的测试/样例来测试你对不同状态和容器的认知。