state_machine.rst

State Machine

Task states are controlled by smach. You can check state machines by smach_viewer.

Pick Task

# Run pick task with smach_viewer
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_pick_task smach_viewer:=true

Stow Task

# Run stow task with smach_viewer
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter stow.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_stow_task smach_viewer:=true