fsm_cartesio

smach-based FSM for CartesI/O.

Try out on Docker

You can try a docker example with a simulated Tiago Dual (omnibase) developed by PAL Robotics (CartesI/O configuration at the link: (https://github.com/hucebot/tiago_dual_cartesio_config)).

To build the docker image, from the inria_fsm_cartesio/docker folder, run:

bash build.sh

To run the container, form the inria_fsm_cartesio/docker folder, run:

bash launch.sh

Then run:

terminator

Inside terminator, open three terminals. In the first start the roscore.

In the second launch CartesI/O example:

mon launch tiago_dual_cartesio_config cartesio.launch

And in the third, run the dummy FSM:

rosrun fsm_cartesio dummy_fsm

The dummy_fsm script offers a basic example on how to start creating smach FSM using CartesI/O functionalities.