recovery_smach_visualization: smach_recovery_viewer
Package Summary
The smach recovery viewer is a GUI that shows the state of hierarchical Recovery SMACH state machines. It can visualize the possible transitions between states, as well as the currently active state and the values of user data that is passed around between states. The smach viewer uses the SMACH debugging interface based on the smach messages to gather information from running state machines.
- Author: Bharath Sankaran and Jon Bohren
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/recovery_smach_visualization/smach_recovery_viewer
Contents
Usage
rosrun smach_recovery_viewer smach_viewer.py
This will start the GUI and help visualize the transitions in the state machine much like in the original SMACH package. The GUI also shows you the ORACLE state which controls failure recovery.
![/!\](/moin_static193/rostheme/img/alert.png "/!\"){kind=small}
Your state machine needs to run an introspection server to allow the smach recovery viewer to connect to it. See this tutorial for more details.
Documentation
The functionality provided in the smach_recovery_viewer is similar to the smach_viewer. It also provides the added functionality of viewing the oracle transitions and current transition matrices along with failure rates.
State Machines written for RECOVERY SMACH will not work with the regular SMACH VIEWER you need to use the SMACH RECOVERY VIEWER. However state machines written for regular SMACH can be used with the RECOVERY SMACH VIEWER if the proper packages are imported