follow_waypoints.py 文件源码

def main():
    rospy.init_node('follow_waypoints')

    sm = StateMachine(outcomes=['success'])

    with sm:
        StateMachine.add('GET_PATH', GetPath(),
                           transitions={'success':'FOLLOW_PATH'},
                           remapping={'waypoints':'waypoints'})
        StateMachine.add('FOLLOW_PATH', FollowPath(),
                           transitions={'success':'PATH_COMPLETE'},
                           remapping={'waypoints':'waypoints'})
        StateMachine.add('PATH_COMPLETE', PathComplete(),
                           transitions={'success':'GET_PATH'})

    outcome = sm.execute()