This ROS2 package provides a mechanism for connecting pytransitions state machines to ROS2.

A state machine can be defined as follows:

[A]n abstract machine that can be in exactly one of a finite number of states at any given time. [A state machine] can change from one state to another in response to some inputs; the change from one state to another is called a transition. [A state machine] is defined by a list of its states, its initial state, and the inputs that trigger each transition.

The core functionality of this package is a wrapper that publishes information about state transitions and relevant inputs (i.e., triggering events) to the ROS2 graph. This information can then be used by other ROS2 nodes. In the context of a ROS2 application, this can be useful for coordinating multiple processes with the internal state of a system.

This package can be added to any ROS2 workspace. Once the workspace has been built, the easiest way to get started is probably to review the introductory example.

Limited automated tests and performance benchmarks are included with this package.

Copyright 2022-2023 Neuromechatronics Lab, Carnegie Mellon University (a.whit)

Maintained by: a. whit. ([email protected])

This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.

Please see LICENSE.txt.