ros_demo系列——smach

ros_demo系列——smach

此文章用来记录在学习roswiki上smach剩下的坑，后续有机会解决并修改。另外smach是一个功能强大且可扩展的基于python的分层状态机库，其不依赖ros，但是executive_smach提供了很好的ros支持，包括actionlib与Smach viewer 的整合，为机器人任务级的决策的提供了一个比较好的开发工具。

参考资料：

• http://wiki.ros.org/smach/Tutorials
• https://www.ncnynl.com/archives/201807/2506.html

#提供一个关于movebase的示例程序import rospy 
from smach import StateMachine  
from smach_ros import SimpleActionState  
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoalwaypoints =[    ['one', (6.575, 3.962), (0.0,0.0,6.575, 3.962)],  ['two', (3.190, 3.132), (0.000, 0.000, 0.921, -0.389)],['three', (1.692, 1.433), (0.000, 0.000, -0.536, 0.844)],['four', (3.153, -4.076), (0.000, 0.000, 0.121, 0.993)]
]if __name__ == '__main__':rospy.init_node('patrol')patrol = StateMachine(['succeeded','aborted','preempted'])with patrol:for i,w in enumerate(waypoints):goal_pose = MoveBaseGoal()goal_pose.target_pose.header.frame_id = 'map'goal_pose.target_pose.pose.position.x = w[1][0]goal_pose.target_pose.pose.position.y = w[1][1]goal_pose.target_pose.pose.position.z = 0.0goal_pose.target_pose.pose.orientation.x = w[2][0]goal_pose.target_pose.pose.orientation.y = w[2][1]goal_pose.target_pose.pose.orientation.z = w[2][2]goal_pose.target_pose.pose.orientation.w = w[2][3]StateMachine.add(w[0],SimpleActionState('move_base', MoveBaseAction, goal=goal_pose),transitions={'succeeded':waypoints[(i + 1) % len(waypoints)][0]})patrol.execute()

暂时的坑：

• Smach viewer的配置环境问题
• 后续再更新一些更实用的demo