I'd like to add that the rcommander (now rosco) work was done by my colleague Hai Nguyen and you can find additional information here: http://www.hsi.gatech.edu/hrl/project_rosco.shtml He has even more recent work which evaluated the interface with novice robot users.
-Kelsey
Willy,
Georgia Tech had/has a tool for visually editing SMACH based FHMs.
http://wiki.ros.org/rcommander_core?distro=fuerte
Shaun Edwards
Senior Research Engineer
Manufacturing System Department
http://rosindustrial.swri.org/
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Southwest Research Institute
From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] On Behalf Of Willy Lambert
Sent: Tuesday, December 17, 2013 3:16 PM
To: User discussions
Subject: Re: [ros-users] ROS Decision Making
Hi,
this sounds promising.
There are many FSM frameworks around, and AFAIK there are few (or even none ?) that provide great graphic tools (including graphical edition !!). The key of success is around those tools.I'm currently using smach because :
_ they provide a graphical "debugger"
_ the user code can be very very light which allow non-informatician to write code.
I'm desesperatly looking for a graphical tool to generate my state machines. If you achieve this, I would be glad to be a beta tester.
2013/12/17 Edwards, Shaun M. <sedwards@swri.org>
Yakir,
This looks pretty cool. In the past I have used SMACH[1] for my state machines. It works well but lacks event based state transitions. In particular I want to use service calls to change certain states. Is this something your library would support?
Shaun Edwards
Senior Research Engineer
Manufacturing System Department
http://rosindustrial.swri.org/
Join the ROS-Industrial Developers List
Southwest Research Institute
From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] On Behalf Of Ari Yakir
Sent: Tuesday, December 17, 2013 9:13 AM
To: ros-users@code.ros.org
Subject: [ros-users] ROS Decision Making
Hi ROS Users,
We are currently working hard towards bringing into ROS a collection of open, light-weight, generic and extendable tools for writing [1] , executing, debugging and monitoring [2] decision making models through ROS standard tools.
Currently we have implemented FSM's, HSM's and Behaviour trees.The documentation is still sparse, and not all the code is up, but we think it's already amazing. Here are some examples [3]
We would be glad to collaborate with anyone interested (academy, research or commercial), welcome implementation of new models , comments and feedback.
[1] http://wiki.ros.org/decision_making
[2] http://wiki.ros.org/rqt_decision_graph
[3] http://wiki.ros.org/decision_making_examplesThanks.
Yakir Ari, Cogniteam
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