README.md

fsm_cartesio

smach-based FSM for CartesI/O.

Try out on Docker

You can try a docker example with a simulated Tiago Dual (omnibase) developed by PAL Robotics (CartesI/O configuration at the link: (https://github.com/hucebot/tiago_dual_cartesio_config)).

To build the docker image, from the inria_fsm_cartesio/docker folder, run:

docker build -t opensot_fsm .

To run the container, form the inria_fsm_cartesio/docker folder, run:

bash run_docker.sh

Then run:

terminator

Inside the terminator, open two terminals. In one run:

roslaunch tiago_dual_cartesio_config cartesio.launch

And in the second, run:

rosrun fsm_cartesio dummy_fsm