Core API Container Templates

StateMachine

The StateMachine template is used for inserting a StateMachine container and is specified as follows:

Template: StateMachine
Description: SMACH StateMachine container for nesting child states in a parent state.
Language: Python
Framework: SMACH
Type: Container
Variables:
    outcomes: The possible StateMachine container state outcomes.
        Type: list of str

    input_keys (optional): The names of the userdata input keys needed by the state.
        Type: list of str

    output_keys (optional): The names of the userdata output keys produced by the state.
        Type: list of str

    userdata (optional): The definitions for the userdata keys named in the input_keys and output_keys variables.
        Type: dict of str

Concurrence

The Concurrence template is used for inserting a Concurrence container and is specified as follows:

Template: Concurrence
Description: SMACH Concurrence container for running states in parallel.
Language: Python
Framework: SMACH
Type: Container