[ros-users] [Discourse.ros.org] [ROS Projects] State Machine Visualization

Nick Fragale ros.discourse at gmail.com
Wed Apr 26 21:34:41 UTC 2017

[quote="mcamp, post:5, topic:1691"]
SMACH does not do that? I think it does

Hmm tried this again and it does work :slight_smile: I think I've run into scenarios where it doesn't, either that or I'm crazy. Who knows. But thank you, think will help with my debugging.

[quote="mcamp, post:5, topic:1691"]
how do you do that?
I use wireless Xbox controller with a[ wireless dongle](https://www.amazon.com/Microsoft-Xbox-Wireless-Receiver-Windows/dp/B000HZFCT2/ref=sr_1_1?ie=UTF8&qid=1493241801&sr=8-1&keywords=xbox+360+dongle). The ROS package for this is called [joy](http://wiki.ros.org/joy). I then wrote a small python node to publish a string like "stop" or "go_to_kitchen" to the /controller_command topic.

Then I use a [SMACH monitor state](http://wiki.ros.org/smach/Tutorials/MonitorState) to listen to the /controller_cmd topic and transition to a state according to what message it sees.

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