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A ROS interface to SCXML based state machines

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ros_scxml

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license - bsd 2 clause

Lightweight finite state machine library that uses the SCXML standard


Prerequisites

QT 5

The QScxml module is available from Qt version 5.7 and higher and is currently only distributed on Ubuntu 20.04. Use the following command to install it:

sudo apt install libqt5scxml5-dev libqt5scxml5-bin

If your distribution or version of Qt does not have the QScxml module there are several options for getting it:

Qt Modules PPA (Recommended)

This PPA provides binary distributions of the QScxml module for Ubuntu 17.10 and 18.04. These binaries install to the standard install directory and should be the same sub-version as the other Qt modules for the distribution. This the most straightforward solution for Ubuntu 17.10/18.04. To install, run:

sudo add-apt-repository ppa:beineri/ppa:skycoder42/qt-modules
sudo apt update
sudo apt install libqt5scxml-dev

/opt Directory Qt Install (PPA)

This PPA provides binary distributions of various versions of Qt for various operating systems. These binaries install to the /opt directory, which is not a standard search path for cmake. As such, several build and run environment variables need to be modified in order to use this distribution of Qt. Installing a version of Qt from this PPA alongside the system installation can also cause version tagging issues when compiling code that depends on Qt. To install, run:

sudo add-apt-repository ppa:beineri/opt-qt-5.12.10-bionic
sudo apt-get update
sudo apt install qt512scxml

Note: Edit command above for your desired version of Qt

In order to make this installation find-able to cmake, several environment variables must be set. Locate your Qt installation directory in the /opt directory and set the environment variables as follows:

export CMAKE_PREFIX_PATH=/opt/qt<version>/lib/cmake:$CMAKE_PREFIX_PATH
export LD_LIBRARY_PATH=/opt/qt<version>/lib:/opt/qt<version>/plugins:$LD_LIBRARY_PATH

Alternative Download (Qt Installer)

The library can be downloaded from here. Run the installation script with root access and follow the on screen instructions.

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A ROS interface to SCXML based state machines

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  • C++ 52.1%
  • Python 30.8%
  • CMake 16.1%
  • Shell 1.0%