On Thu, 16 Feb 2012, Frederic Siepmann wrote:

> Hi there,
>
> On 02/16/2012 09:36 PM, Herman Bruyninckx wrote:
>>  Coordination is _the_ major missing feature in ROS. (SMACH is a small step
>>  in this direction.)
>
> I also couldn't agree more. I can not tell too much about the current state 
> of SMACH but there are plenty of frameworks out there dealing with this very 
> topic. One of the more advanced ones might be the SCXML implementation from 
> Apache Commons (http://commons.apache.org/scxml/guide/scxml-documents.html) 
> and we (opensource.cit-ec.de/projects/bonsai) and probably some other RoboCup 
> teams have taken some steps to deal with coordination.
>
> I was wondering what you think about e.g. using SCXML in ROS or bridging 
> existing frameworks?

SCXML is a _standard_, not a piece of software, so it can, in itself, not
bridge any frameworks. And as most W3C standards, it's _way_ to feature
rich; for example, it specifies iteration and conditionals, which is just
one of the many "event logics" that one might want to use.

> Cheers,
> Frederic

Herman