Core API Base Templates¶
Base¶
The Base template is used for specifying the bare bones of a Python SMACH state machine script and is specified as follows:
Template: Base
Description: SMACH base template.
Language: Python
Framework: SMACH
Type: Base
Variables:
manifest (optional): ROS manifest name.
Type: str
node_name (optional): ROS node name for the state machine.
Type: str
outcomes: A list of possible outcomes of the state machine.
Type: list
userdata (optional): Definitions for userdata needed by child states.
Type: dict
function_name (optional): A name for the main executable state machine function.
Type: str