State Machine Package

This repository contains the state machine package for ros2 (python).

State Machine Concept

The state machine has for each discipline a separate FSM that are all contained in one top level state machine.

Free Drive

States

• Start = while being in the startbox and waiting for it to open
• Driving = while driving around the track

Obstacle Avoidance

States

The different states in the obstacle avoidance more

• Start = while being in the startbox and waiting for it to open
• Driving = while driving normally without any specific scenario
• Parking = while being in parking area
• No-Passing Zone = while being in the no-passing zone
• Expressway = while being in the expressway
• Pedestrian Crossing = when a pedestrian crossing is detected until it is passed
• Intersection = when an intersection is detected until it is passed (can be divided down into the different intersection types)
• Overtaking = when an obstacle is detected until it is fully passed
• Barred Area = when in front of a barred area until it is passed

Installation

For the potential error where a long outdatet package 'nose' is used: File "/home/smartrollerz/.pyenv/versions/default/lib/python3.12/site-packages/nose/importer.py", line 12, in from imp import find_module, load_module, acquire_lock, release_lock ModuleNotFoundError: No module named 'imp'

pip uninstall nose fixed it for me

Structure

• config/: All configurations (most of the time yaml files)
• launch/: Contains all launch files. Launch files can start multiple nodes with yaml-configurations
• resource/: Contains the package name (required to build with colcon)
• state_machine: Contains all nodes and sources for the ros package
• test/: Contains all tests
• package.xml: Contains metadata about the package
• setup.py: Used for Python package configuration
• setup.cfg: Additional configuration for the package
• requirements.txt: Python dependencies

Contributing

Thank you for considering contributing to this repository! Here are a few guidelines to get you started:

1. Fork the repository and clone it locally.
2. Create a new branch for your contribution.
3. Make your changes and ensure they are properly tested.
4. Commit your changes and push them to your forked repository.
5. Submit a pull request with a clear description of your changes.

We appreciate your contributions and look forward to reviewing them!

License

This repository is licensed under the MIT license. See LICENSE for details.