Gorbyy/behavioural_state_machine

State machine for behavioural control

behavioural_state_machine

To use package with real robot:

1. Edit connect_node.py to select DB ip.
2. Run connect_node.py to read from MondoDB and publish events on a topic.
3. Run main script of the state machine.

To use package in simulation:

1. $ mongod

2. $ mongo

3. $ roslaunch vizzy_launch vizzy_simulation.launch

4. $ rviz

5. Edit connect_node.py to select DB ip (in this case could be empty).

6. Run connect_node.py to read from MondoDB and publish events on a topic.

7. Run main script of the state machine.

8. Add events in mongo to simulate. An example of event is

   db.GestureBuildEvents.insert( { timeStamp: "23:01", confidence: 0.91, gesture: "come here" } )