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Home Courses Hello (Real) World with ROS – Robot Operating System Course materials Lectures 6.4.3 Program a FlexBE State (part 1)

6.4.3 Program a FlexBE State (part 1)

Course subject(s) Module 6. Final

In this video and the next one, we will apply what we have learned about FlexBE states to program a state that controls the conveyor belt in our factory simulation.

Before programming a FlexBE state implementation, think carefully about its design:

      •  What should happen when our state becomes active?
      •  What interface should my state have to be used in a state machine?
      • What outcomes can result from our state?
      • What parameters should it have to be configured for a behavior?
      • What data does it need to execute, and what data does it produce? This defines the input and output keys

A FlexBE state is implemented as a Python class that implements the state Lifecycle:

      • It is important to properly document your state.
      • You have to implement the different functions in the state Lifecycle.
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Hello (Real) World with ROS - Robot Operating System by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Based on a work at https://online-learning.tudelft.nl/courses/hello-real-world-with-ros-robot-operating-systems//.
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