Package Summary

The smach viewer is a GUI that shows the state of hierarchical SMACH state machines. It can visualize the possible transitions between states, as well as the currently active state and the values of user data that is passed around between states. The smach viewer uses the SMACH debugging interface based on the smach messages to gather information from running state machines.

Maintainer status: unmaintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>, ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
Author: Jonathan Bohren <jbo AT jhu DOT edu>
License: BSD
Source: git https://github.com/ros-visualization/executive_smach_visualization.git (branch: melodic-devel)

Contents

Usage
Documentation

English

简体中文

Usage

rosrun smach_viewer smach_viewer.py

This will start the GUI. Once you have one or more state machines running with an introspection server, they should show up in the GUI.

$/!\$ Your state machine needs to run an introspection server to allow the smach viewer to connect to it. See this tutorial for more details.

smach/smach_viewer.png

Documentation

Graph view

The graph view shows all the states of the state machine, connected by their outcomes. Each node represents a state (or sub state machine), and each arc represents a state transition. When the outcome of the state is the same as the outcome of the state machine, there is no arc drawn to simplify the view. Clicking on "show implicit" will show all state transitions.

View depth

The "depth" box allows you to expand or collapse sub state machines. Depth 0 means you only show the top level state machine, depth 1 shows the first level of sub state machines, etc. Level -1 show all levels.

smach/Tutorials/Create a hierarchical state machine/sm_expanded.png

Tree view

It is also possible to show a state machine as a tree. This view makes it clear that one state machine is a sub state machine of another state machine.