Package Summary

SMACHA (short for "State Machine Assembler", pronounced "smasha") aims at distilling the task-level simplicity of SMACH into compact YAML-based scripts in the foreground, while retaining all of its power and flexibility in Jinja2-based templates and a custom code generation engine in the background.

Maintainer status: developed
Maintainer: Barry Ridge <barry.ridge AT ijs DOT si>
Author: Barry Ridge <barry.ridge AT ijs DOT si>, Timotej Gaspar <timotej.gaspar AT gmail DOT com>
License: BSD
Bug / feature tracker: https://github.com/ReconCell/smacha/issues
Source: git https://github.com/ReconCell/smacha.git (branch: master)

Overview

SMACHA (short for "State Machine Assembler", pronounced "smasha") aims at distilling the task-level simplicity of SMACH into compact YAML-based scripts in the foreground, while retaining all of its power and flexibility in Jinja2-based templates and a custom code generation engine in the background.

The SMACHA package aims to address this deficit by offering a code generation, templating and metascripting methodology for state machine assembly, as well as an accompanying application programming interface (API), for the rapid, modular development of robot control programs. The API has been developed to function effectively as either a front-end for concise scripting or a back-end for code generation for visual programming systems.

Due to its architecture it is highly modular. Templates and scripts can be loaded and read from the parameter server for code generation. This allows for different devices within the ROS network to provide their templates via the parameter server which reduces the need for tedious code/library exchange.

Documentation

The documentation is available here:

The documentation page provides an overview of the functionalities and core concepts of SMACHA.

Tutorials

Still to come.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]