Overview

This uses the smach package to implement a small demo using a State Machine. The demo is simply a succession of simple movements (e.g. beckon with a finger, show your muscles, etc...), with a state for checking if we're getting to the targets or not between each of the different positions.

You can see the state machine below:

Running the Demo

To start it, just run:

$ roslaunch sr_smach_example sr_smach.launch

It will start the demo as well as the state machine visualizer.