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executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

  • Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
  • Author: Jonathan Bohren
  • License: BSD
executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

executive_smach: smach | smach_msgs | smach_ros

Package Summary

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

SMACHについて

SMACHが有効に使える場面

SMACHは複数の複雑なプランの中で全てのステートとその遷移を明確に記述できるものをロボットに実行させたい時に有効です。This basically takes the hacking out of hacking together different modules to make systems like mobile robotic manipulators do interesting things.

SMACHを使わないほうがいい場合

SMACHは単なる有限ステートマシンライブラリなのか?

SMACHを使って有限ステートマシンを構築することはできますが、それだけではありません。SMACHはタスクレベルの実行、調整ライブラリであり、ある種「ステートコンテナ」としての役割を果たします。そのコンテナのひとつは有限ステートマシンであり、また他のコンテナの一つのステートでもあるのです。複数のコンテナとステートがSMACHとして構築されているチュートリアルをご覧ください。

ドキュメント

ドキュメントページではSMACHで用いられる概念についての概略がまとめられています。

チュートリアルページでは素早く目的のステートマシンを構築し、実行するための様々なチュートリアルがあります。


2024-12-07 14:51