Python-learning-SMACH-1-GettingStarted

最新推荐文章于 2019-11-20 17:02:13 发布
lightrain0
最新推荐文章于 2019-11-20 17:02:13 发布
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<span class="anchor" id="line-1"></span><p class="line874">s## For instruction on writing tutorials <span class="anchor" id="line-2"></span><span class="anchor" id="line-3"></span><p class="line867"><span class="anchor" id="line-4"></span><p class="line867"><span class="anchor" id="line-5"></span><p class="line867"><span class="anchor" id="line-6"></span><p class="line867"><span class="anchor" id="line-7"></span><p class="line867"><span class="anchor" id="line-8"></span><p class="line867"><span class="anchor" id="line-9"></span><p class="line867"><span class="anchor" id="line-10"></span><p class="line867"><span class="anchor" id="line-11"></span><p class="line867"><span class="anchor" id="line-12"></span><p class="line867"><span class="anchor" id="line-13"></span><p class="line867"><span class="anchor" id="line-14"></span><p class="line867"><span class="anchor" id="line-15"></span><p class="line867"><span class="anchor" id="line-16"></span><p class="line867"><span class="anchor" id="line-17"></span><p class="line867"><span class="anchor" id="line-18"></span><p class="line867"><span class="anchor" id="line-19"></span><p class="line867"><span class="anchor" id="line-20"></span><p class="line867"><span class="anchor" id="line-21"></span><p class="line867"><span class="anchor" id="line-22"></span><p class="line867"><span class="anchor" id="line-23"></span><p class="line867"><span class="anchor" id="line-1-1"></span><span class="anchor" id="line-2-1"></span><span class="anchor" id="line-3-1"></span><span class="anchor" id="line-4-1"></span><span class="anchor" id="line-5-1"></span><div><table><tbody><tr>  <td style="background-color: #bbceee"> <img alt="(!)" height="15" src="/moin_static197/rostheme/img/idea.png" title="(!)" width="15" /> Please ask about problems and questions regarding this tutorial on <a class="http" href="http://answers.ros.org">answers.ros.org</a>. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.</td>
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</tbody></table></div><span class="anchor" id="line-6-1"></span><span class="anchor" id="line-7-1"></span><span class="anchor" id="line-8-1"></span>
<h1 id="Getting_Started_with_smach">Getting Started with smach</h1>
<span class="anchor" id="line-9-1"></span><strong>Description:</strong> This tutorial guides you through the very first steps of using smach.<br>
<br>
 <span class="anchor" id="line-10-1"></span><span class="anchor" id="line-11-1"></span><span class="anchor" id="line-12-1"></span><span class="anchor" id="line-13-1"></span><strong>Tutorial Level:</strong> BEGINNER<br>
 <br>
 <span class="anchor" id="line-14-1"></span><span class="anchor" id="line-15-1"></span><strong>Next Tutorial:</strong>   <a href="/smach/Tutorials/User%20Data">Passing User Data between States</a> <br>
 <br>
  <span class="anchor" id="line-16-1"></span><p class="line874"> <span class="anchor" id="line-24"></span><span class="anchor" id="line-25"></span><p class="line867"><div class="table-of-contents"><p class="table-of-contents-heading">Contents<ol><li>
<a href="#Why_learn_Smach.3F">Why learn Smach?</a></li><li>
<a href="#Creating_a_State_Machine">Creating a State Machine</a><ol><li>
<a href="#Creating_a_state">Creating a state</a></li><li>
<a href="#Adding_states_to_a_state_machine">Adding states to a state machine</a></li><li>
<a href="#Example">Example</a></li></ol></li><li>
<a href="#Pre-defined_States_and_Containers">Pre-defined States and Containers</a><ol><li>
<a href="#State_library">State library</a></li><li>
<a href="#Container_library">Container library</a></li></ol></li></ol></li></ol></div><p class="line874"> <span class="anchor" id="line-26"></span><span class="anchor" id="line-27"></span><p class="line867">
<h2 id="Why_learn_Smach.3F">Why learn Smach?</h2>
<span class="anchor" id="line-28"></span><p class="line862">Smach, which stands for "State Machine", is a powerful and scalable Python-based library for hierarchical state machines. The Smach library does not depend on ROS, and can be used in any Python project. The <a href="/executive_smach">executive_smach</a> stack however provides very nice integration with ROS, including smooth <a href="/actionlib">actionlib</a> integration and a powerful <a href="/smach_viewer">Smach viewer</a> to visualize and introspect state machines. <span class="anchor" id="line-29"></span><span class="anchor" id="line-30"></span><p class="line862">It is very easy to write a simple Smach state machine, while at the same time Smach allows you to design, maintain and debug large, complex hierarchical state machines. The image below shows an example state machine used to coordinate <a href="/actionlib">actionlib</a> actions that allow the PR2 robot to <a href="/pr2_plugs">charge itself at a standard outlet</a>. <span class="anchor" id="line-31"></span><span class="anchor" id="line-32"></span><p class="line867"><img alt="pr2_plugs_executive/smach.png" class="attachment" src="/pr2_plugs_executive?action=AttachFile&do=get&target=smach.png" title="pr2_plugs_executive/smach.png" width="750" /> <span class="anchor" id="line-33"></span><span class="anchor" id="line-34"></span><p class="line867">
<h2 id="Creating_a_State_Machine">Creating a State Machine</h2>
<span class="anchor" id="line-35"></span><p class="line874">To create a Smach state machine, you first create a number of states, and then add those states to a State Machine container. <span class="anchor" id="line-36"></span><span class="anchor" id="line-37"></span><p class="line867">
<h3 id="Creating_a_state">Creating a state</h3>
<span class="anchor" id="line-38"></span><p class="line862">To create a state, you simply inherit from the <tt class="backtick">State</tt> base class, and implement the <tt class="backtick">State.execute(userdata)</tt> method: <span class="anchor" id="line-39"></span><span class="anchor" id="line-40"></span><p class="line867"><span class="anchor" id="line-41"></span><span class="anchor" id="line-42"></span><span class="anchor" id="line-43"></span><span class="anchor" id="line-44"></span><span class="anchor" id="line-45"></span><span class="anchor" id="line-46"></span><span class="anchor" id="line-47"></span><span class="anchor" id="line-48"></span><span class="anchor" id="line-49"></span><span class="anchor" id="line-50"></span><span class="anchor" id="line-51"></span><span class="anchor" id="line-1-2"></span><div class="highlight python"><div class="codearea" dir="ltr" lang="en">
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<pre dir="ltr" id="CA-9d7418365444599849ea25a7f1d07887f116c71b" lang="en"><span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_1">   1</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_1"></span><span class="anchor" id="line-1-3"></span>  <span class="ResWord">class</span> <span class="ID">Foo</span>(<span class="ID">smach</span>.<span class="ID">State</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_2">   2</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_2"></span><span class="anchor" id="line-2-2"></span>     <span class="ResWord">def</span> <span class="ID">__init__</span>(<span class="ResWord">self</span>, <span class="ID">outcomes</span>=[<span class="String">'</span><span class="String">outcome1</span><span class="String">'</span>, <span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>]):</span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_3">   3</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_3"></span><span class="anchor" id="line-3-2"></span>       <span class="Comment"># Your state initialization goes here</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_4">   4</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_4"></span><span class="anchor" id="line-4-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_5">   5</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_5"></span><span class="anchor" id="line-5-2"></span>     <span class="ResWord">def</span> <span class="ID">execute</span>(<span class="ResWord">self</span>, <span class="ID">userdata</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_6">   6</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_6"></span><span class="anchor" id="line-6-2"></span>        <span class="Comment"># Your state execution goes here</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_7">   7</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_7"></span><span class="anchor" id="line-7-2"></span>        <span class="ResWord">if</span> <span class="ID">xxxx</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_8">   8</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_8"></span><span class="anchor" id="line-8-2"></span>            <span class="ResWord">return</span> <span class="String">'</span><span class="String">outcome1</span><span class="String">'</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_9">   9</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_9"></span><span class="anchor" id="line-9-2"></span>        <span class="ResWord">else</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-9d7418365444599849ea25a7f1d07887f116c71b_10">  10</a> </span><span class="LineAnchor" id="CA-9d7418365444599849ea25a7f1d07887f116c71b_10"></span><span class="anchor" id="line-10-2"></span>            <span class="ResWord">return</span> <span class="String">'</span><span class="String">outcome2</span><span class="String">'</span></span>
</pre></div></div><span class="anchor" id="line-52"></span><ul><li><p class="line862">In the <strong>init</strong> method you initialize your state class. Make sure to never block in the init method! If you need to wait for other parts of your system to start up, do this from a separate thread. <span class="anchor" id="line-53"></span><span class="anchor" id="line-54"></span></li><li class="gap"><p class="line862">In the <strong>execute</strong> method of a state the actual work is done. Here you can execute any code you want. It is okay to block in this method as long as you like. Once you return from this method, the current state is finished. <span class="anchor" id="line-55"></span><span class="anchor" id="line-56"></span></li><li class="gap"><p class="line862">When a state finishes, it returns an <strong>outcome</strong>. Each state has a number of possible outcomes associated with it. An outcome is a user-defined string that describes how a state finishes. A set of possible outcomes could for example be ['succeeded', 'failed', 'awesome']. The transition to the next state will be specified based on the outcome of the previous state. <span class="anchor" id="line-57"></span><span class="anchor" id="line-58"></span></li></ul><p class="line867">
<h3 id="Adding_states_to_a_state_machine">Adding states to a state machine</h3>
<span class="anchor" id="line-59"></span><p class="line874">A state machine is a container that holds a number of states. When adding a state to a state machine container, you specify the transitions between the states. <span class="anchor" id="line-60"></span><span class="anchor" id="line-61"></span><p class="line867"><span class="anchor" id="line-62"></span><span class="anchor" id="line-63"></span><span class="anchor" id="line-64"></span><span class="anchor" id="line-65"></span><span class="anchor" id="line-66"></span><span class="anchor" id="line-67"></span><span class="anchor" id="line-68"></span><span class="anchor" id="line-69"></span><span class="anchor" id="line-1-4"></span><div class="highlight python"><div class="codearea" dir="ltr" lang="en">
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<pre dir="ltr" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99" lang="en"><span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_1">   1</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_1"></span><span class="anchor" id="line-1-5"></span>  <span class="ID">sm</span> = <span class="ID">smach</span>.<span class="ID">StateMachine</span>(<span class="ID">outcomes</span>=[<span class="String">'</span><span class="String">outcome4</span><span class="String">'</span>,<span class="String">'</span><span class="String">outcome5</span><span class="String">'</span>])</span>
<span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_2">   2</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_2"></span><span class="anchor" id="line-2-3"></span>  <span class="ResWord">with</span> <span class="ID">sm</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_3">   3</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_3"></span><span class="anchor" id="line-3-3"></span>     <span class="ID">smach</span>.<span class="ID">StateMachine</span>.<span class="ID">add</span>(<span class="String">'</span><span class="String">FOO</span><span class="String">'</span>, <span class="ID">Foo</span>(),</span>
<span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_4">   4</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_4"></span><span class="anchor" id="line-4-3"></span>                            <span class="ID">transitions</span>={<span class="String">'</span><span class="String">outcome1</span><span class="String">'</span>:<span class="String">'</span><span class="String">BAR</span><span class="String">'</span>,</span>
<span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_5">   5</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_5"></span><span class="anchor" id="line-5-3"></span>                                         <span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>:<span class="String">'</span><span class="String">outcome4</span><span class="String">'</span>})</span>
<span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_6">   6</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_6"></span><span class="anchor" id="line-6-3"></span>     <span class="ID">smach</span>.<span class="ID">StateMachine</span>.<span class="ID">add</span>(<span class="String">'</span><span class="String">BAR</span><span class="String">'</span>, <span class="ID">Bar</span>(),</span>
<span class="line"><span class="LineNumber"><a href="#CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_7">   7</a> </span><span class="LineAnchor" id="CA-e3031002f9584789f354e2f64f7c7d8f8c4fea99_7"></span><span class="anchor" id="line-7-3"></span>                            <span class="ID">transitions</span>={<span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>:<span class="String">'</span><span class="String">FOO</span><span class="String">'</span>})</span>
</pre></div></div><span class="anchor" id="line-70"></span><p class="line874">The resulting state machine looks like this: <span class="anchor" id="line-71"></span><span class="anchor" id="line-72"></span><p class="line867"><img alt="simple.png" class="attachment" src="/smach/Tutorials/Getting%20Started?action=AttachFile&do=get&target=simple.png" title="simple.png" width="350" /> <span class="anchor" id="line-73"></span><span class="anchor" id="line-74"></span><ul><li><p class="line862">The red boxes show the possible <strong>outcomes</strong> of the state machine container: outcome4 and outcome5, as specified in line 1. <span class="anchor" id="line-75"></span></li><li><p class="line862">In line 3-5 we <strong>add</strong> the first state to the container, and call it FOO. The convention is to name states with all caps. If the outcome of state FOO is 'outcome1', then we transition to state BAR. If the outcome of state FOO is 'outcome2', then the whole state machine will exit with 'outcome4'. <span class="anchor" id="line-76"></span></li><li><p class="line862">Every state machine container is also a state. So you can <strong>nest state machines</strong> by adding a state machine container to another state machine container. <span class="anchor" id="line-77"></span><span class="anchor" id="line-78"></span></li></ul><p class="line867">
<h3 id="Example">Example</h3>
<span class="anchor" id="line-79"></span><p class="line862">This is a complete runnable example you can find in the <a href="/executive_smach_tutorials">executive_smach_tutorials</a> package. <span class="anchor" id="line-80"></span><span class="anchor" id="line-81"></span><p class="line867"><span class="anchor" id="line-82"></span><span class="anchor" id="line-83"></span><span class="anchor" id="line-1-6"></span><p class="line867"><span class="anchor" id="line-1-7"></span><em><a class="https" href="https://raw.githubusercontent.com/eacousineau/executive_smach_tutorials/hydro-devel/smach_tutorials/examples/state_machine_simple.py">https://raw.githubusercontent.com/eacousineau/executive_smach_tutorials/hydro-devel/smach_tutorials/examples/state_machine_simple.py</a></em> <span class="anchor" id="line-2-4"></span><span class="anchor" id="line-3-4"></span><span class="anchor" id="line-4-4"></span><span class="anchor" id="line-5-4"></span><span class="anchor" id="line-6-4"></span><span class="anchor" id="line-7-4"></span><span class="anchor" id="line-8-3"></span><span class="anchor" id="line-9-3"></span><span class="anchor" id="line-10-3"></span><span class="anchor" id="line-11-2"></span><span class="anchor" id="line-12-2"></span><span class="anchor" id="line-13-2"></span><span class="anchor" id="line-14-2"></span><span class="anchor" id="line-15-2"></span><span class="anchor" id="line-16-2"></span><span class="anchor" id="line-17-1"></span><span class="anchor" id="line-18-1"></span><span class="anchor" id="line-19-1"></span><span class="anchor" id="line-20-1"></span><span class="anchor" id="line-21-1"></span><span class="anchor" id="line-22-1"></span><span class="anchor" id="line-23-1"></span><span class="anchor" id="line-24-1"></span><span class="anchor" id="line-25-1"></span><span class="anchor" id="line-26-1"></span><span class="anchor" id="line-27-1"></span><span class="anchor" id="line-28-1"></span><span class="anchor" id="line-29-1"></span><span class="anchor" id="line-30-1"></span><span class="anchor" id="line-31-1"></span><span class="anchor" id="line-32-1"></span><span class="anchor" id="line-33-1"></span><span class="anchor" id="line-34-1"></span><span class="anchor" id="line-35-1"></span><span class="anchor" id="line-36-1"></span><span class="anchor" id="line-37-1"></span><span class="anchor" id="line-38-1"></span><span class="anchor" id="line-39-1"></span><span class="anchor" id="line-40-1"></span><span class="anchor" id="line-41-1"></span><span class="anchor" id="line-42-1"></span><span class="anchor" id="line-43-1"></span><span class="anchor" id="line-44-1"></span><span class="anchor" id="line-45-1"></span><span class="anchor" id="line-46-1"></span><span class="anchor" id="line-47-1"></span><span class="anchor" id="line-48-1"></span><span class="anchor" id="line-49-1"></span><span class="anchor" id="line-50-1"></span><span class="anchor" id="line-51-1"></span><span class="anchor" id="line-52-1"></span><span class="anchor" id="line-53-1"></span><span class="anchor" id="line-54-1"></span><span class="anchor" id="line-55-1"></span><span class="anchor" id="line-56-1"></span><span class="anchor" id="line-57-1"></span><span class="anchor" id="line-58-1"></span><span class="anchor" id="line-59-1"></span><span class="anchor" id="line-60-1"></span><span class="anchor" id="line-61-1"></span><span class="anchor" id="line-1-8"></span><div class="highlight python"><div class="codearea" dir="ltr" lang="en">
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<pre dir="ltr" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01" lang="en"><span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_1">   1</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_1"></span><span class="anchor" id="line-1-9"></span><span class="Comment">#!/usr/bin/env python</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_2">   2</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_2"></span><span class="anchor" id="line-2-5"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_3">   3</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_3"></span><span class="anchor" id="line-3-5"></span><span class="ResWord">import</span> <span class="ID">roslib</span>; <span class="ID">roslib</span>.<span class="ID">load_manifest</span>(<span class="String">'</span><span class="String">smach_tutorials</span><span class="String">'</span>)</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_4">   4</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_4"></span><span class="anchor" id="line-4-5"></span><span class="ResWord">import</span> <span class="ID">rospy</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_5">   5</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_5"></span><span class="anchor" id="line-5-5"></span><span class="ResWord">import</span> <span class="ID">smach</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_6">   6</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_6"></span><span class="anchor" id="line-6-5"></span><span class="ResWord">import</span> <span class="ID">smach_ros</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_7">   7</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_7"></span><span class="anchor" id="line-7-5"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_8">   8</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_8"></span><span class="anchor" id="line-8-4"></span><span class="Comment"># define state Foo</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_9">   9</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_9"></span><span class="anchor" id="line-9-4"></span><span class="ResWord">class</span> <span class="ID">Foo</span>(<span class="ID">smach</span>.<span class="ID">State</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_10">  10</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_10"></span><span class="anchor" id="line-10-4"></span>    <span class="ResWord">def</span> <span class="ID">__init__</span>(<span class="ResWord">self</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_11">  11</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_11"></span><span class="anchor" id="line-11-3"></span>        <span class="ID">smach</span>.<span class="ID">State</span>.<span class="ID">__init__</span>(<span class="ResWord">self</span>, <span class="ID">outcomes</span>=[<span class="String">'</span><span class="String">outcome1</span><span class="String">'</span>,<span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>])</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_12">  12</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_12"></span><span class="anchor" id="line-12-3"></span>        <span class="ResWord">self</span>.<span class="ID">counter</span> = <span class="Number">0</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_13">  13</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_13"></span><span class="anchor" id="line-13-3"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_14">  14</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_14"></span><span class="anchor" id="line-14-3"></span>    <span class="ResWord">def</span> <span class="ID">execute</span>(<span class="ResWord">self</span>, <span class="ID">userdata</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_15">  15</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_15"></span><span class="anchor" id="line-15-3"></span>        <span class="ID">rospy</span>.<span class="ID">loginfo</span>(<span class="String">'</span><span class="String">Executing state FOO</span><span class="String">'</span>)</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_16">  16</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_16"></span><span class="anchor" id="line-16-3"></span>        <span class="ResWord">if</span> <span class="ResWord">self</span>.<span class="ID">counter</span> < <span class="Number">3</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_17">  17</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_17"></span><span class="anchor" id="line-17-2"></span>            <span class="ResWord">self</span>.<span class="ID">counter</span> += <span class="Number">1</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_18">  18</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_18"></span><span class="anchor" id="line-18-2"></span>            <span class="ResWord">return</span> <span class="String">'</span><span class="String">outcome1</span><span class="String">'</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_19">  19</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_19"></span><span class="anchor" id="line-19-2"></span>        <span class="ResWord">else</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_20">  20</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_20"></span><span class="anchor" id="line-20-2"></span>            <span class="ResWord">return</span> <span class="String">'</span><span class="String">outcome2</span><span class="String">'</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_21">  21</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_21"></span><span class="anchor" id="line-21-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_22">  22</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_22"></span><span class="anchor" id="line-22-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_23">  23</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_23"></span><span class="anchor" id="line-23-2"></span><span class="Comment"># define state Bar</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_24">  24</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_24"></span><span class="anchor" id="line-24-2"></span><span class="ResWord">class</span> <span class="ID">Bar</span>(<span class="ID">smach</span>.<span class="ID">State</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_25">  25</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_25"></span><span class="anchor" id="line-25-2"></span>    <span class="ResWord">def</span> <span class="ID">__init__</span>(<span class="ResWord">self</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_26">  26</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_26"></span><span class="anchor" id="line-26-2"></span>        <span class="ID">smach</span>.<span class="ID">State</span>.<span class="ID">__init__</span>(<span class="ResWord">self</span>, <span class="ID">outcomes</span>=[<span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>])</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_27">  27</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_27"></span><span class="anchor" id="line-27-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_28">  28</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_28"></span><span class="anchor" id="line-28-2"></span>    <span class="ResWord">def</span> <span class="ID">execute</span>(<span class="ResWord">self</span>, <span class="ID">userdata</span>):</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_29">  29</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_29"></span><span class="anchor" id="line-29-2"></span>        <span class="ID">rospy</span>.<span class="ID">loginfo</span>(<span class="String">'</span><span class="String">Executing state BAR</span><span class="String">'</span>)</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_30">  30</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_30"></span><span class="anchor" id="line-30-2"></span>        <span class="ResWord">return</span> <span class="String">'</span><span class="String">outcome2</span><span class="String">'</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_31">  31</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_31"></span><span class="anchor" id="line-31-2"></span>        </span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_32">  32</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_32"></span><span class="anchor" id="line-32-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_33">  33</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_33"></span><span class="anchor" id="line-33-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_34">  34</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_34"></span><span class="anchor" id="line-34-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_35">  35</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_35"></span><span class="anchor" id="line-35-2"></span><span class="Comment"># main</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_36">  36</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_36"></span><span class="anchor" id="line-36-2"></span><span class="ResWord">def</span> <span class="ID">main</span>():</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_37">  37</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_37"></span><span class="anchor" id="line-37-2"></span>    <span class="ID">rospy</span>.<span class="ID">init_node</span>(<span class="String">'</span><span class="String">smach_example_state_machine</span><span class="String">'</span>)</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_38">  38</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_38"></span><span class="anchor" id="line-38-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_39">  39</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_39"></span><span class="anchor" id="line-39-2"></span>    <span class="Comment"># Create a SMACH state machine</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_40">  40</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_40"></span><span class="anchor" id="line-40-2"></span>    <span class="ID">sm</span> = <span class="ID">smach</span>.<span class="ID">StateMachine</span>(<span class="ID">outcomes</span>=[<span class="String">'</span><span class="String">outcome4</span><span class="String">'</span>, <span class="String">'</span><span class="String">outcome5</span><span class="String">'</span>])</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_41">  41</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_41"></span><span class="anchor" id="line-41-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_42">  42</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_42"></span><span class="anchor" id="line-42-2"></span>    <span class="Comment"># Open the container</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_43">  43</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_43"></span><span class="anchor" id="line-43-2"></span>    <span class="ResWord">with</span> <span class="ID">sm</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_44">  44</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_44"></span><span class="anchor" id="line-44-2"></span>        <span class="Comment"># Add states to the container</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_45">  45</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_45"></span><span class="anchor" id="line-45-2"></span>        <span class="ID">smach</span>.<span class="ID">StateMachine</span>.<span class="ID">add</span>(<span class="String">'</span><span class="String">FOO</span><span class="String">'</span>, <span class="ID">Foo</span>(), </span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_46">  46</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_46"></span><span class="anchor" id="line-46-2"></span>                               <span class="ID">transitions</span>={<span class="String">'</span><span class="String">outcome1</span><span class="String">'</span>:<span class="String">'</span><span class="String">BAR</span><span class="String">'</span>, </span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_47">  47</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_47"></span><span class="anchor" id="line-47-2"></span>                                            <span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>:<span class="String">'</span><span class="String">outcome4</span><span class="String">'</span>})</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_48">  48</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_48"></span><span class="anchor" id="line-48-2"></span>        <span class="ID">smach</span>.<span class="ID">StateMachine</span>.<span class="ID">add</span>(<span class="String">'</span><span class="String">BAR</span><span class="String">'</span>, <span class="ID">Bar</span>(), </span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_49">  49</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_49"></span><span class="anchor" id="line-49-2"></span>                               <span class="ID">transitions</span>={<span class="String">'</span><span class="String">outcome2</span><span class="String">'</span>:<span class="String">'</span><span class="String">FOO</span><span class="String">'</span>})</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_50">  50</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_50"></span><span class="anchor" id="line-50-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_51">  51</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_51"></span><span class="anchor" id="line-51-2"></span>    <span class="Comment"># Execute SMACH plan</span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_52">  52</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_52"></span><span class="anchor" id="line-52-2"></span>    <span class="ID">outcome</span> = <span class="ID">sm</span>.<span class="ID">execute</span>()</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_53">  53</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_53"></span><span class="anchor" id="line-53-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_54">  54</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_54"></span><span class="anchor" id="line-54-2"></span></span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_55">  55</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_55"></span><span class="anchor" id="line-55-2"></span><span class="ResWord">if</span> <span class="ID">__name__</span> == <span class="String">'</span><span class="String">__main__</span><span class="String">'</span>:</span>
<span class="line"><span class="LineNumber"><a href="#CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_56">  56</a> </span><span class="LineAnchor" id="CA-5ed0a1465d43207c47ff3857f30d6536ccfa9b01_56"></span><span class="anchor" id="line-56-2"></span>    <span class="ID">main</span>()</span>
</pre></div></div><span class="anchor" id="line-62-1"></span><p class="line874"> <span class="anchor" id="line-84"></span><p class="line874">Running the example: <span class="anchor" id="line-85"></span><span class="anchor" id="line-86"></span><p class="line867"><span class="anchor" id="line-87"></span><span class="anchor" id="line-88"></span><span class="anchor" id="line-89"></span><pre><span class="anchor" id="line-1-10"></span>$ roscd smach_tutorials
<span class="anchor" id="line-2-6"></span>$ ./examples/state_machine_simple.py</pre><span class="anchor" id="line-90"></span><p class="line874">This should give you the following output: <span class="anchor" id="line-91"></span><span class="anchor" id="line-92"></span><p class="line867"><span class="anchor" id="line-93"></span><span class="anchor" id="line-94"></span><span class="anchor" id="line-95"></span><span class="anchor" id="line-96"></span><span class="anchor" id="line-97"></span><span class="anchor" id="line-98"></span><span class="anchor" id="line-99"></span><span class="anchor" id="line-100"></span><span class="anchor" id="line-101"></span><span class="anchor" id="line-102"></span><span class="anchor" id="line-103"></span><span class="anchor" id="line-104"></span><span class="anchor" id="line-105"></span><span class="anchor" id="line-106"></span><span class="anchor" id="line-107"></span><pre><span class="anchor" id="line-1-11"></span>[INFO] 1279835117.234563: Executing state FOO
<span class="anchor" id="line-2-7"></span>[INFO] 1279835117.234849: State machine transitioning 'FOO':'outcome1'-->'BAR'
<span class="anchor" id="line-3-6"></span>[INFO] 1279835117.235114: Executing state BAR
<span class="anchor" id="line-4-6"></span>[INFO] 1279835117.235360: State machine transitioning 'BAR':'outcome2'-->'FOO'
<span class="anchor" id="line-5-6"></span>[INFO] 1279835117.235633: Executing state FOO
<span class="anchor" id="line-6-6"></span>[INFO] 1279835117.235884: State machine transitioning 'FOO':'outcome1'-->'BAR'
<span class="anchor" id="line-7-6"></span>[INFO] 1279835117.236143: Executing state BAR
<span class="anchor" id="line-8-5"></span>[INFO] 1279835117.236387: State machine transitioning 'BAR':'outcome2'-->'FOO'
<span class="anchor" id="line-9-5"></span>[INFO] 1279835117.236644: Executing state FOO
<span class="anchor" id="line-10-5"></span>[INFO] 1279835117.236891: State machine transitioning 'FOO':'outcome1'-->'BAR'
<span class="anchor" id="line-11-4"></span>[INFO] 1279835117.237149: Executing state BAR
<span class="anchor" id="line-12-4"></span>[INFO] 1279835117.237394: State machine transitioning 'BAR':'outcome2'-->'FOO'
<span class="anchor" id="line-13-4"></span>[INFO] 1279835117.237652: Executing state FOO
<span class="anchor" id="line-14-4"></span>[INFO] 1279835117.237898: State machine terminating 'FOO':'outcome2':'outcome4'</pre><span class="anchor" id="line-108"></span><p class="line867">
<h2 id="Pre-defined_States_and_Containers">Pre-defined States and Containers</h2>
<span class="anchor" id="line-109"></span><p class="line867">
<h3 id="State_library">State library</h3>
<span class="anchor" id="line-110"></span><p class="line874">The example above shows how you can implement your own states. However, Smach comes with a whole library of pre-implemented states that cover many common usecases: <span class="anchor" id="line-111"></span><span class="anchor" id="line-112"></span><ul><li><p class="line891"><strong>SimpleActionState</strong>: automatically call <a href="/actionlib">actionlib</a> actions. <span class="anchor" id="line-113"></span></li><li><p class="line891"><strong>ServiceState</strong>: automatically call ROS services <span class="anchor" id="line-114"></span></li><li><p class="line891"><strong>MonitorState</strong> <span class="anchor" id="line-115"></span></li><li>... <span class="anchor" id="line-116"></span><span class="anchor" id="line-117"></span></li></ul><p class="line862">The 'Smach States' section on the <a href="/smach/Tutorials">tutorials page</a> gives an overview of all available states. <span class="anchor" id="line-118"></span><span class="anchor" id="line-119"></span><p class="line867">
<h3 id="Container_library">Container library</h3>
<span class="anchor" id="line-120"></span><p class="line874">Similarly, Smach also comes with a set of useful containers: <span class="anchor" id="line-121"></span><span class="anchor" id="line-122"></span><ul><li><p class="line891"><strong>StateMachine</strong>: the generic state machine container <span class="anchor" id="line-123"></span></li><li><p class="line891"><strong>Concurrence</strong>: a state machine that can run multiple states in parallel. <span class="anchor" id="line-124"></span></li><li><p class="line891"><strong>Sequence</strong>: a state machine that makes it easy to execute a set of states in sequence. The 'Smach Containers' section on the <a href="/smach/Tutorials">tutorials page</a> gives an overview of all available containers. <span class="anchor" id="line-125"></span><span class="anchor" id="line-126"></span></li></ul><p class="line867"><img alt="width="350"" class="attachment" src="/smach/Tutorials/Getting%20Started?action=AttachFile&do=get&target=containers.png" title="width="350"" /> <span class="anchor" id="line-127"></span><span class="anchor" id="line-128"></span><p class="line862">The <a href="/smach/Tutorials/User%20Data">next tutorial</a> will teach you how to pass user data between different states and state machines. <span class="anchor" id="line-129"></span><span class="anchor" id="line-130"></span><p class="line867"><span class="anchor" id="line-131"></span><p class="line867"><span class="anchor" id="line-132"></span><p class="line867"><span class="anchor" id="line-133"></span><p class="line867"><span class="anchor" id="line-134"></span><span class="anchor" id="bottom"></span></div></div>
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<p id="pageinfo" class="info" lang="en" dir="ltr">Wiki: smach/Tutorials/Getting Started  (last edited 2015-07-26 13:28:41 by <span title="snorri @ 118.32.165.21[118.32.165.21]"><a class="mailto" href="mailto:d.stonier@gmail.com" title="snorri @ 118.32.165.21[118.32.165.21]">DanielStonier</a></span>)</p>




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Python-learning-SMACH-1-GettingStarted

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