Hello Alex.

Recently I have ported the Lua-based Fawkes Behavior Engine to ROS.
Might be worth a look. It is based on hybrid state machines and
emphasizes description over programming (by exploiting Lua's powerful
table structure), but still provides a full programming language to
provide a useful plumbing layer with re-usable behavior entities, that
can be combined to more complex ones.

http://www.ros.org/wiki/behavior_engine

I'm currently writing documentation on how to get started designing and
describing/programming behaviors, beyond installation and running the thing.

	Tim

-- 
KBSG - Knowledge-Based Systems Group            AllemaniACs RoboCup Team
========================================================================
http://robocup.rwth-aachen.de                     RWTH Aachen University
http://kbsg.rwth-aachen.de                               Ahornstrasse 55
http://www.fawkesrobotics.org                             D-52056 Aachen