ros2-SMACH: Tasks as State Machines(16)

一、sudo apt-get install ros-indigo-smach ros-indigo-smach-ros ros-indigo-executive-smach ros-indigo-smach-viewer

二、sudo apt-get install python-easygui

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一、roslaunch rbx2_tasks fake_turtlebot.launch

二、rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

三、rosrun rbx2_tasks patrol_smach.py

四、rosrun smach_viewer smach_viewer.py

五、rosrun rbx2_tasks patrol_smach.py

六、rosrun rbx2_tasks patrol_smach_iterator.py

七、rosrun rbx2_tasks patrol_smach_callback.py