Comments (1)
Hi Victor,
This could be a rather long conversation, but off the top of my head...
- Out of the box integration with ROS Topics, services, actions...
- Reference Library of State Machines you can use out of the box...
- Client Library that currently provides reuseable behaviors for Nav2 and MoveIt2 (among others) out of the box...
- Support for orthogonals/multiple physical subsystems to a greater degree than QP/C++...
- Compile time validation of the state machine...
- The ability to visualize your state machine both statically and at runtime via the SMACC2_RTA...
There might be one or two more that I'm forgetting.
I would like to say though that I'm a big fan of Miro Samek's work and I was definitely influenced by both his writings and QP/C++. I would characterize it though as being more suited to smaller embedded devices and PC applications as opposed to complex robotic systems. From it's inception, SMACC was designed to meet the needs of advanced robotics.
Hope this was helpful.
Cheers
from smacc2.
Related Issues (20)
- Test1
- No comprehensive documentation (especially for concepts)
- Build Errors HOT 7
- How to use Action events HOT 5
- warning format occorred. HOT 2
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- Adding manually compiled SMACC2 packages files to /opt/foxy folder HOT 2
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- [Question] Is there a way to access the event from a state that caused the transition to the current state? HOT 2
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