Smach (State Machine) demonstration

This workspace demonstrates a basic usage of Smach for a mobile base. It has two functionalities:

1. Move to goal ( in a straight line), when reached or crossed the goal
2. Move in circle.

Setup

Create a workspace:
mkdir basic_ws/src
Place the file in the src:
cd basic_ws/src
Make:
cd ..
catkin_make
source devel/setup.bash
Run the commands:
Launch robot model in gazebo:
roslaunch mobile_manipulator_body base_gazebo_control.launch
Run the smach file:
rosrun mobile_manipulator_body smach_basic.py

Dependencies:

ROS Noetic
Smach

Result:

Output for transitions

Smach viewer Tree