ros-industrial-consortium / packml

ROS packml (https://en.wikipedia.org/wiki/PackML) support package
Apache License 2.0
9 stars 14 forks source link

Create Weihenstephan state machine specialization #6

Open shaun-edwards opened 7 years ago

shaun-edwards commented 7 years ago

The Weihenstephan standard shown as a OMAC / PackML V3.0 model below (taken from PackML V3.0 standard), is a typical industrial state machine. It also has the benefit of having fewer user interactions to "start" a machine. From a "Stopped" state, a machine can be simply be started. The PackML standard requires a "reset" and then "start". From an aborted state, the PackML standard requires three operations.

NOTE: The figure below does not show an "un-holding" state. This transitory state is inconsequential to user operations, and potentially useful for customization. I recommend keeping the state.

image