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Implementing A Nested State Machine using SMACH library

I am trying to implement a Finite State Machine using the SMACH library. My state machine has 3 nested state machines and I don't know where am I making a mistake. Any help is highly appreciated. ''' ...
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How can I call a ros2 executable with arguments from a non-ROS file

Hello, I have two questions: I would like to create a ROS API to start ROS nodes from a non-ROS python script. For example the non-ROS python script: pick.py, would call the pick_ros.py to start a ...
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Error smach_viewer in ROS noetic

Hi, I read the smach tutorial and there is no problem until I run smach_viewer command. Smach tutorial rosrun smach_viewer smach_viewer.py The terminal shows the ...
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Concurrent smach state where if one side finishes the other must stop and finish aswell

I'm implementing a state machine using smach, and my point in this particular part is to have a state that is continuously checking if my UAV can visualize the marker by implementing a MonitorState, ...
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Stopping teleop without shutting down SMACH state-machine

I'm building a mobile robot that is using SMACH for high-level task management. I'm starting of trying to give users the ability to chose between between exploration and teleoperation. I have no ...
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1 answer
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move_base_flex and flexbe

Hi, Me and my team have been looking into the possibility of switching from move_base (http://wiki.ros.org/move_base) to move_base_flex (http://wiki.ros.org/move_base_flex), since this last one is ...
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1 answer
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smach kinetic on raspberry pi 3

Hi I am using ROS kinetic on a raspberry pi 3 (with Raspbian Buster). To install ROS on the raspberry I used this tutorial and everything was running fine. Now I want to create a program and use ...
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1 answer
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Actionlib: AttributeError: 'PoseStamped' object has no attribute 'use_start_pose'

I'm trying to use move base flex inside a SMACH state machine and want to call the get_path-action. The corresponding action-msg looks like this: ...
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whether to use SMACH or not for pick_and_place and door_opening

Hi all, I want to achieve the pick&place and door opening function for my robot. Currently I wrote a single node for pick&place, with the approaching, grasping, retreating, placing stages ...
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2 answers
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How to structure project - Cmd vel Mux vs State machine?

I'm making an autonomous mobile robot which will have various features which can be activated with different buttons. For example, one button should trigger wall following whilst another button will ...
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1 answer
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move_base_flex loading DWB_local_planner using Adapter, but cannot plan

Hi, I'm trying to get familiar with SMACH and adapting tutorial, but changing default dwa_local_planner to DWB, since it showed a great performance. Since It's nav_core, I'm using nav_core_adapter, ...
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1 answer
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Smach get value from subscriber topic

I'm pretty new to ROS, and I'm working with SMACH. I have an Arduino UNO with 4 LEDs (green ,yellow, red and blue) and one button. What I'm trying to achieve is a sort of traffic light simulator. My ...
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How to trigger SMACH state transitions from another node

Hi I'm using the SMACH state machine and want to trigger state changes from other nodes. For example from a keyboard node to ABORT the running process at any time. One could of course do this by ...
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1 answer
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Add StateMachine object in concurrent container

Greetings, I am currently trying to write a state machine with smach for a robot, including a safety fuction, where the activity of the robot should be preempted, once a specific message is sent to a ...
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1 answer
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smach: How to execute a new state and then continue with the old state

Hi, I'm using SMACH and I have a situation where I'm executing say, state1. But I get a sensor input and I have to execute a new state now, state2. After execution of state2, I want to continue ...
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1 answer
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How to troubleshoot: protocol synchronization is lost

Suddenly I start seeing this error: [ERROR] [1520525542.826204079] [/rosout]: a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I'll assume protocol synchronization ...
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1 answer
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How to use IK library inside Python SMACH state (Python)?

I want to create create complex behaviors using the SMACH library (e.g. grasping an object, bipod walking, etc). In order to maintain flexibility, inside my SMACH state machines, I've used ...
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1 answer
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Can a rosnode have a global state of it's own?

Hi, I wish to create a statemachine for a rosnode. However I want the state machine to be broken into parts and execute these parts independently. E.g. Initial State of the rosnode is A A Service S1 ...
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smach: advice on conditional logic

I have a smach tree with "SimpleActionState"s as the leaf states. I am trying to create a good concept for conditional logic in the SMACH level. A state should check a condition and only ...
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1 answer
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Transition smach to same final state

Hi all, I want to execute a self transition in which the initial state is same as the final state STATE_A -----> STATE_A However, when the smach.execute() is called, it continuously executes the ...
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1 answer
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SMACH sequences from configuration file

I am implementing my first ROS solution. I need to control some motors and sensors in various sequences. Some stuff must execute in parallel and some only if certain conditions are present. It is my ...
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1 answer
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FlexBE OSX Sierra

Hello community, GOOGLE drops ChromeAPP support next year and I'm searching for new FlexBE UI solution. Is there any way to use FlexBE UI without chrome similar to SimpleDockerUI ? This UI was ported ...
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1 answer
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service state request callback function, error: Invalid number of arguments

Hi, I created a service with the following definition and i called it navigation.srv: ...
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1 answer
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Preempt a state doesn't work

Hi! I have tried to do a concurrence state with one one monitor-state that check for a reset topic and one state with a lot of sub-states that do the actual work. The goal is to and the work if ...
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1 answer
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smach error message

smach.exceptions.InvalidStateError: Attempting to access the currently opened container, but no container is opened. what does this mean? Originally posted by orsonl on ROS Answers with karma: 54 on ...
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2 answers
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Userdata change type

Hi, I try to du a small smach tree and pass a class between the state with userdata, the code look like this ...
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1 answer
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Python smach userdata key not available

Hi, I am new to smach and I have some question about userdata in smach. This is my code: ...
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1 answer
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kinetic smach_viewer or alternatives

Hello, I tried the tutorial with smach and saw that the smach_viewer isn't supported on ros kinetic. Is smach still used in some projects or is there another solution for state machines in ROS kinetic ...
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1 answer
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Can a sequence of nodes be run in SMACH, behavior trees, or similar?

Hi, I am looking for a solution to the idea of creating a state machine as a sequence of nodes, or a sequence of concurrent nodes. Where the nodes, could be nodes of any type that a user has created. ...
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1 answer
6 views

Problem while Running SMACH program

Hi, I am trying out the tutorials on SMACH in ros-indigo. I am trying to run this following SMACH program state_machine_simple.py ...
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1 answer
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SMACH: How to stop an action currently run by the ActionServerWrapper?

This question follows this old one. As @bit-pirate, I have my SM running inside an action server wrapper. Following @jbohren explanatios, my SM receives the Ctrl+C properly and stops. So all is fine ...
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1 answer
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Smach Userdata Input/Output keys error

[ERROR] [WallTime: 1455271923.018549] [44.655000] Userdata key 'error_bool' not available. Available keys are: ['parameters'] I keep getting this error... Anybody has a clue why is this happening? ...
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1 answer
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What is the state of smach_viewer in ROS Jade?

I would like to know when and in what form the smach viewer utility will be released for jade. The indigo release has the packages ros-indigo-smach-viewer and ros-indigo-xdot, but there are no such ...
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2 answers
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How to unit test smach state machines?

I'm struggling with how to automate tests to exercise a smach state machine. In particular: Is it possible to start the state machine in a given state? I'm picturing some modification to ...
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1 answer
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Shouldn't smach transition even if the action process has died?

Hello, I am using a smach concurrent state machine and I want it to transition, even if one of the child states has died. It seems like it sits there waiting for the pre-emption to return, when it ...
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2 answers
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ROS Answers SE migration: Smach Tutorial

First of is there a good alternative to Smach? If not then is there a better set of tutorials than the official ROS option? http://wiki.ros.org/smach/Tutorials Originally posted by Mr. CEO on ROS ...
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1 answer
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ROS Answers SE migration: smach groovy

Hello, i try to run a simple example code with ros groovy ...
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1 answer
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Is SMACH still maintained and used?

Hi all, I was wondering whether SMACH was stil maintained? Or is this a dying package? Also is it very much used among the community? Except a few example regarding the PR2 I could not find it used ...
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1 answer
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Using ActionServerWrapper to run actionserver writtten in cpp

I have a actionserver written in C++. I want to run this actionserver using actionserverwrapper in smach. Is this possible? Or we have to write the actionserver in python itself? Originally posted ...
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1 answer
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Controlling transitions between states in SMACH

Hello, i started working with SMACH few days ago and I was wondering how I could control the transition between my states from external events. For example a transition would be triggered by the event ...
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1 answer
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Install catkin package from source (smach_tutorial)?

Hi there, I'm having quite a bit of trouble understanding how to get a package installed via catkin. I am hoping to run through the smach tutorials - and this seems to necessitate install the ...
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1 answer
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Move base to absolute coordinates?

Hi again, I'm playing around with actionlib and smach trying to make my robot move to four specific absolute points on the map. ...
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1 answer
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rospy / SMACH vs. TF

Hello, I'm having few SMACH states in different files and would like to use TF in some of them. There will be probably even some concurrent states so, I created helper class tf_utils (helper_methods....
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1 answer
7 views

Smach : how to launch rqt_smach?

Hello everyone, I'm studying the Smach stack on ROS Groovy (compiled from sources) and I would like to use the smach viewer but it doesn't work anymore and seems to have been replaced by rqt_smach. ...
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1 answer
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Changing SMACH states on a service request

I am using SMACH to create a state machine. I would like to create a state machine that switches state when a service request is received (i.e. the state machine has a service server). I have a ...
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2 answers
24 views

Can a SMACH state machine be paused and resumed?

Hello, I've been working through the smach and teer tutorials. Teer appears to make it easy to pause and resume a collection of tasks. I was wondering if there is a way to do something similar in ...
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1 answer
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Real life SMACH examples?

Hello, I have run through most of the SMACH tutorials and I was hoping to find at least one example where SMACH is used on a real robot. For example, was SMACH used for the PR2 marathon tests? Or ...
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1 answer
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Filling the Goal of FollowJointTrajectory in Python

Hi everyone, I'm using Python to create (for my ros_smach) a connection to the ActionServer "control_msgs/FollowJointTrajectory". To call the function SimpleActionState() I have to specify a ...
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1 answer
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How to kill a smach state machine inside an ActionServerWrapper

Hi there! I can't find a way to kill an action server I have created using smach and its action server wrapper. Once the action server is started (...
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1 answer
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smach states based on topic messages

Hi, for my project i started to create a SMACH state machine. The state transitions should be based on results from actionservers and their responses and mainly on the data received on one specific ...
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