0.Tms Ts Smach Overview

• brief@ store python script for smach

Where：~/catkin_ws/src/ros_tms/tms_ts/tms_ts_smach/scripts

about smach

1.How to run smach

• Task scheduler automatically generate and run smach script.

Running command(in TS)

cd ~/catkin_ws/src/ros_tms/tms_ts/tms_ts_smach
chmod +x scripts/[scripts's_name].py

./scripts/[script's_name].py

2.How to run smach viewer

rosrun smach_viewer smach_viewer.py

:star: smach_viewer's bug??

rewrite 480th row of the /opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py as below

return int(self.read_code()) -> return int(float(self.read_code()))

3.Example

Here are examples

Image1: Sequential Task

Image2: Concurrence Task