In this lecture, you will understand better what a FlexBE state is and what properties it has to interface with the behavior.

Remember

• State encapsulates a single action
• Topics, services and Ros actions provide capabilities

A FlexBE state:

• Represents a specific action

State properties:

• Parameters
  • • configure static properties
    • quotation marks gives a literal value
    • use a behaviour variable
• Input & output keys
  • • input key requires data
    • output keys produces data
    • dynamic: can take a different value every state activation
    • values are behaviour userdata variables
• Outcomes
  • • possible outcomes
    • possible transitions
    • possible execution flows

 

Below you will find two figures, figure A and figure B, which will be used for this lecture’s question.

Figure A: Parameter section in FlexBE

Figure B: Behavior configuration