Core API Base Templates


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
    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