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How can i make concurrent (parallel) states in same automata?

asked 2018-04-23 23:10:28 -0500

I want to create multiple states working together in same automata. Using SMACH in ROS it could have been done using smach.Concurrence..

What is the alternative for that in VisualStates.

Please help

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answered 2018-05-03 17:16:29 -0500

jmplaza gravatar image

Hi Abhimanyu,

in VisualStates the underlying paradigm is to have only one active state per level. There can be several concurrent active states, but they have to be family then: like a father active state and one of its children also in active state. This simplifies the Action Selection, and avoid race conditions and interferences when controlling the motors, for instance. The motors can be commanded only from the active states.

If you have two different sets of (decoupled) actuators (for instance locomotion motors and a pantilt unit) you can have two different automata running concurrently. One for control of the motors (one set of actuators) and another one for control of the pantilt unit (other set of actuators).

Best, JoseMaria

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Asked: 2018-04-23 23:10:00 -0500

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Last updated: May 03