Hey Alex, you can find some tutorials including a simple turtlesim tutorial here: http://www.ros.org/wiki/cram_pl/Tutorials If you are not worried about giving lisp a try you should definitely have a look at cram_language :) Lorenz > Alex, > > you may also have a look at http://www.ros.org/wiki/cram_language. > > D. > > On Wed, Feb 16, 2011 at 9:09 PM, Alex Brown wrote: > > Thanks, Tully and Jack > >     I’ll definitely look into SMACH. > > Alex > > > > From: Tully Foote > > Sent: Tuesday, February 15, 2011 1:31 PM > > To: User discussions > > Subject: Re: [ros-users] Looking for a behavior handling executive > > > > Hi Alex, > > > > We usually use the smach package for hierarchical state machines. > > http://www.ros.org/wiki/smach  It's designed to integrate well actionlib. > > http://www.ros.org/wiki/actionlib > > > > Tully > > > > ________________________________ > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > > > -- Lorenz Mösenlechner | moesenle@in.tum.de Technische Universität München | Boltzmannstr. 3 85748 Garching bei München | Germany http://ias.cs.tum.edu/ | Tel: +49 (89) 289-26910