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

On Tue, Feb 15, 2011 at 1:24 PM, Alex Brown <rbirac@cox.net> wrote:

>   Hi all,
>
>     We are transitioning our Windows based robot project (leafproject.org)
> over to ROS.  (Thank you, Willow Garage :- )  As hobbyists, we do not want
> to be limited to single purpose designs, but want robots that can perform
> many complex behaviors selected either by user voice commands or
> autonomously generated behaviors from an artificial personality.
>
>     We currently use a table driven state machine to initialize and execute
> each behavior.  This can involve turning sensors and analysis programs on or
> off and sequentially (with branching) calling many lower level behaviors to
> accomplish the higher level objectives.  Each higher level behavior has its
> table in a text file.  The current implementation has some limitations that
> I would like to address in rewriting the code for ROS.
>
>     I suspect that some other projects have similar capabilities.  I would
> like to look at their implementations but searching all the repositories or
> the multi-thousand item package list is too daunting.  I would appreciate it
> if someone would point me at some existing packages that perform this type
> of function.
>
> Thanks,
> Alex
>
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>


-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827