State Machine

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

Pick Task

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

Stow Task

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