roseus_smach

This package includes euslisp implementation of state machine and smach.

requirements

• roseus
• smach
• smach_viewer
  • Optional for visualization.
  • You have to install this package manually:
    sudo apt install ros-$ROS_DISTRO-smach-viewer

sample

Sample codes are available on sample directory.

• rosrun roseus_smach state-machine-ros-sample.l
  • simple state machine

  rosrun smach_viewer smach_viewer.py
  

  rosrun roseus_smach state-machine-ros-sample.l
  (exec-smach-simple)
  

• nested state machine

  rosrun smach_viewer smach_viewer.py
  

  rosrun roseus_smach state-machine-ros-sample.l
  (exec-smach-nested)
  

• state machine with userdata

  rosrun smach_viewer smach_viewer.py
  

  rosrun roseus_smach state-machine-ros-sample.l
  (exec-smach-userdata)
  

• sample/parallel-state-machine-sample.l

  • state machine with parallel action execution

  rosrun smach_viewer smach_viewer.py
  

  rosrun roseus_smach parallel-state-machine-sample.l
  (demo)
  

Writing Simple Smach(state-machine)

Example codes are here.

#!/usr/bin/env roseus
(load "package://roseus_smach/src/state-machine.l")

(setq count 0)
(defun func-foo (userdata-alist)
  (format t "Execute state FOO~%")
  (cond ((< count 3) (incf count) :outcome1)
	(t :outcome2)))
(defun func-bar (userdata-alist)
  (format t "Execute state BAR~%")
  :outcome2)

(defun smach-simple ()
  (let ((sm (instance state-machine :init)))
    (send sm :add-node (instance state :init :FOO 'func-foo))
    (send sm :add-node (instance state :init :BAR 'func-bar))
    ;; goal-states are generated in this method
    (send sm :goal-state (list :outcome4 :outcome5))

    ;; select a node as start-node
    (send sm :start-state :FOO)
    ;; from and to nodes are selected by name or symbol
    (send sm :add-transition :FOO :BAR :outcome1)
    (send sm :add-transition :FOO :outcome4 :outcome2)
    (send sm :add-transition :BAR :FOO :outcome2)
    sm ))

(send (smach-simple) :execute nil)

The Code Explained

(load "package://roseus_smach/src/state-machine.l")

This line imports state-machine class, state class, and transition class.

```lisp (defun func-foo (userdata-alist)

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Changelog for package roseus_smach

1.7.5 (2021-12-13)

• [roseus_smach] add :append-goal-state (#696)

• add nested example with make-state-machine function (#661)

  • add readme on smach-simple-nested

  * use defmacro instead of defun for make-simple-state without this, we need to write ` (setq sm-top (make-state-machine '((:bas :outcome3 :sub) ;; transitions (:sub :outcome4 :outcome5)) `((:bas 'func-bas) ;; functon maps (:sub ,sm-sub)) ;; set "nestaed state machine" '(:bas) ;; initial '(:outcome5) ;; goal ))[ to avoid ]{.title-ref}/opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl unittest-error: unbound variable sm-sub in (eval (get-alist node func-map)), exitting...[ errors, this change enable us to write intuitive way ]{.title-ref}'((:bas 'func-bas) ;; functon maps (:sub sm-sub)) ;; set "nestaed state machine"[ you can test this behavior with ]{.title-ref}(defmacro test (l) `(dolist (e ,l) (print e) (print (eval (cadr e))))) (defmacro test (l) (dolist (e l) (print e) (print (eval (cadr e))))) (let (a) (setq a 10) (test '((:foo 1) (:bar a))))`

• [roseus_smach] make roseus_smach execution faster (#684)

  • sleep 0.5 s for publisher
  • use ros::sleep for smach execution

• [roseus_smach] add more ros-info in convert-smach (#683)

• [roseus_smach] fix typo in state-machine-utils.l (#693)

• [roseus_smach] add :start-state and :goal-state in convert-smach (#682)

• [roseus_smach] add groupname in state-machine-inspector (#691)

  • use send sm :spin-once in state-machine-utils.l
  • add groupname and spin-once with groupname

• Updates to README sample code and explanations (#659)

  • extend test time limit to 120 sec for test-samples.l
  • add example/test for smach-simple with make-state-machine function
  • write more info similar to rospy implementation
  • add more info(URL/python code) on sample
  • fix typo of nestate state machine example path
  • add make-sample-parallel-state-machine tests
  • add more test, check :active-tates, duration time

• [roseus_smach] use roseus for parallel-state-machine-sample (#651)

• [roseus_smach] add smach_viewer installation to README (#641)

• [roseus_smach] add code explanation of simple-state-machine in README.md. (#627)

• Contributors: Guilherme Affonso, Kei Okada, Naoki Hiraoka, Naoya Yamaguchi, Shingo Kitagawa, Yoichiro Kawamura

1.7.4 (2019-02-04)

1.7.3 (2019-02-01)

• check why test-smach-action-client-state failing on installed test (#570 )
• fix make-state-machine docstring (#589 )
• re-enable test-smach-action-client-state, which is removed in https://github.com/jsk-ros-pkg/jsk_roseus/pull/567#issuecomment-406841511
• Add issue link in make-state-machine docstring (#595 )
• roseus_smach: change the order of callee args for userdata in pddl2smach (#587)
• roseus_smach: pass userdata values unless :arg-keys is set (#586)
  • roseus_smach: fix error on exec state machine without ri
• Contributors: Guilherme Affonso, Yuki Furuta, Shingo Kitagawa

1.7.2 (2018-11-10)

1.7.1 (2018-07-22)

• add melodic test (#567)

  • split test_samples.test into test_samples_action_client_state.test, since it is always failling on only installed test https://api.travis-ci.org/v3/job/406576370/log.txt, not sure why...

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