smach_viewer: Can't view independent SMACH FSMs ("Path not available" at root "path: /") #18

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1. josephcoombe

   changed the title [-]smach_viewer: Can't view independent SMACH FSMs / "Path not available" at root "path: /"[/-] [+]smach_viewer: Can't view independent SMACH FSMs ("Path not available" at root "path: /")[/+] on Apr 18, 2018
2. k-okada commented on Jul 22, 2018

   

   k-okada

   on Jul 22, 2018

   Contributor

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   @josephcoombe can you provide example to reproduce this? And rqt_smach should be newer this this package, but i’m not sure about the current status of that package.
3. josephcoombe commented on Aug 9, 2018

   

   josephcoombe

   on Aug 9, 2018

   Last edited by josephcoombe

   Author

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   Here's a simple example.

   1. Create test_fsm.py

   #!/usr/bin/env python
   # -*- coding: utf-8 -*-
   
   
   from __future__ import print_function
   
   import rospy
   from rospy import Subscriber
   from smach import StateMachine, State
   import smach_ros
   
   from std_msgs.msg import String
   
   
   class Tic(State):
       def __init__(self):
           State.__init__(self, outcomes=['success'])
           self._active = False
           self._ros_rate = rospy.Rate(100)
           self._tic_received = False
           self._listener = Subscriber('tic', String, callback=self._listener_cb)
   
       def execute(self, ud):
           self._active = True
           while not rospy.is_shutdown() and not self._tic_received:
               self._ros_rate.sleep()
           self._active = False
           self._tic_received = False
           return 'success'
   
       def _listener_cb(self, msg):
           if self._active:
               self._tic_received = True
   
   
   if __name__ == '__main__':
       rospy.init_node('test_fsm', anonymous=True)
   
       top = StateMachine(outcomes=['success'])
       with top:
           StateMachine.add('TIC_A', Tic(), transitions={'success':'TIC_B'})
           StateMachine.add('TIC_B', Tic(), transitions={'success':'TIC_C'})
           StateMachine.add('TIC_C', Tic(), transitions={'success':'TIC_A'})
   
       sis = smach_ros.IntrospectionServer(str(rospy.get_name()), top, '/SM_ROOT' + str(rospy.get_name()))
       sis.start()
   
       top.execute()
   
       rospy.spin()
       sis.stop()
   

   2. chmod +x test_fsm.py
   3. roscore
   4. In two separate terminals, python test_fsm.py
   5. rosrun smach_viewer smach_viewer.py

   You should be able to view both state machines separately
   

   and
   

   but not together...