Think about state machines

[jgvictores]

Copied from original issue: roboticslab-uc3m/follow-me#35

• SMACH tutorials: http://wiki.ros.org/action/show/smach/Tutorials Fork of their hard-to-find source code: https://github.com/spmaniato/executive_smach_tutorials
• FlexBE (Flexible Behavior Engine): flexbe.github.io
  • Source code of its core: https://github.com/team-vigir/flexbe_behavior_engine
  • GitHub organization (states and GUI app): https://github.com/FlexBE
  • FlexBE is an extension of SMACH, but may or may not fit your use case.
• Boost Statechart (C++): http://www.boost.org/doc/libs/1_64_0/libs/statechart/doc/index.html Steep learning curve but much faster and more expressive.
• rFSM
• https://github.com/Roboy/ravestate
• https://github.com/zmij/afsm
• https://robmosys.eu/wiki-sn-03/baseline:environment_tools:smartsoft:smartmdsd-toolchain:start

References

• https://github.com/robotology/QA/issues/156
• https://discourse.ros.org/t/goose-chasing-robot/1651/9
• https://discourse.ros.org/t/state-machine-visualization/1691/2

[jgvictores]

Imported issue to here as it is very horizontal, and updated it to include actual FSM mechanisms not only links to discussions.

[jgvictores]

Also some private stuff:

• https://github.com/roboticslab-uc3m/tiago-main/issues/52
• https://github.com/roboticslab-uc3m/tiago-state-machines

[jgvictores]

Added SmartMDSD from RobMoSys (EU project, coordinated by PAL, ends Dic-2021).