This repo is an integration of mission_executor with turtlesim. This provides an actual example of how the mission_executor can be integrated with robot-specific RAFCON statemachines.
The structure of this repository is as follows:
- RAFCON statemachine libraries
- modules/mission_control: Git submodule of mission_control_rafcon_statemachines
- modules/ros: Git submodule of ros_rafcon_statemachines
- mission_control_interface_turtles: turtlesim-specific interface copied and adjusted from 'modules/mission_control/template'
- turtle_sim_actions: high-level skill implementations of turtlesim
- turtle_sim_utils: utility RAFCON statemachines for turtlesim
- scripts: python scripts to host/call dummy rosmc_interface_msgs services to test RAFCON statemachines
- config.yaml: RAFCON config file
- start_turtle1/2: RAFCON startup scripts for turtle1/2