smach

SMACH is a task-level architecture for rapidly creating complex robot

behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

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  • Rosindex
• Python API
  • smach package

• Standard Documents
  • README
  • PACKAGE
  • CHANGELOG

README

smach

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Description

SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

SMACH provides a powerful and flexible framework for defining robot behaviors as state machines with clear state transitions, hierarchical composition, and concurrency primitives. The library emphasizes code readability and maintainability, making it easier to develop, debug, and modify complex robot behaviors.

Key features:

• Hierarchical state machines with nested containers

• Concurrent state execution

• Clear state transition logic

• ROS-independent core (ROS integration provided by smach_ros)

• Introspection and visualization support

• Extensive documentation and examples

Authors

• Jonathan Bohren

• Charles Lesire

Maintainers

• Isaac Saito (iisaac.saito@gmail.com)

License

BSD