Flexbe Tutorial

FlexBe Tutorial - Installation - Behaviors Repository - Using the Statemachine Editor - Execution # References [download](http://philserver.bplaced.net/fbe/download.php) [flexbe/Tutorials](http://wiki.ros.org/action/fullsearch/flexbe/Tutorials?action=fullsearch&context=180&value=linkto%3A"flexbe%2FTutorials") # Environment configure ## Installation ```sh # install as binary (recommended for users) sudo apt install ros-$ROS_DISTRO-flexbe-behavior-engine # or build from source cd ~/catkin_ws/src # or an alternative workspace source path git clone https://github.com/team-vigir/flexbe_behavior_engine.git ``` ## Get Examples ```sh cd ~/catkin_ws/src git clone https://github.com/FlexBE/flexbe_app.git git clone https://github.com/FlexBE/generic_flexbe_states.git ``` ## Build examples ```sh cd ~/catkin_ws catkin build source devel/setup.bash ``` ## Create hortcut for the FlexBE App, ```sh rosrun flexbe_app shortcut create # or "remove" to remove it again ``` # Quick Start ## Behaviors Repository ```sh rosrun flexbe_widget create_repo tutorial # replace "tutorial" by your favorite name if you want ``` You will see: ```sh ➜ src rosrun flexbe_widget create_repo tutorial Will initialize new behaviors repo tutorial_behaviors ... (1/4) Checking package dependencies... Done (2/4) Fetching project structure... Cloning into 'tutorial_behaviors'... remote: Enumerating objects: 86, done. remote: Total 86 (delta 0), reused 0 (delta 0), pack-reused 86 Unpacking objects: 100% (86/86), done. Branch 'feature/flexbe_app' set up to track remote branch 'feature/flexbe_app' from 'origin'. Switched to a new branch 'feature/flexbe_app' (3/4) Configuring project template... Done (4/4) Initializing new repository... Initialized empty Git repository in /home/yubao/data/catkin_ws/src/tutorial_behaviors/.git/ [master (root-commit) b8f210c] Initial commit 16 files changed, 432 insertions(+) create mode 100644 .gitignore ... Congratulations, your new repository tutorial_behaviors is ready to be pushed! Please run the following commands to push it: git remote add origin [your_repo_url] git push origin master Your new repository already contains an example behavior and examples for writing own states: rosed tutorial_flexbe_states example_state.py rosed tutorial_flexbe_states example_action_state.py Clone the following repository for a user interface (editor + runtime control) for FlexBE: git clone https://github.com/FlexBE/flexbe_app.git Make sure to build your workspace. ``` ## Creating a New Behavior http://wiki.ros.org/action/fullsearch/flexbe/Tutorials/Creating%20a%20New%20Behavior ```sh roslaunch flexbe_app flexbe_ocs.launch ``` Flexbe_example ## Using the Statemachine Editor [Using the Statemachine Editor](http://wiki.ros.org/action/fullsearch/flexbe/Tutorials/Using%20the%20Statemachine%20Editor) ![](http://philserver.bplaced.net/fbe/img/tutorials/fbetut26.png) ## Execution of a Behavior [Execution of a Behavior](http://wiki.ros.org/action/fullsearch/flexbe/Tutorials/Execution%20of%20a%20Behavior) ```sh roslaunch flexbe_app flexbe_full.launch ``` load the previously created behavior ![](http://philserver.bplaced.net/fbe/img/tutorials/fbetut31.png) ## Start execution Now, switch to the *Runtime Control* view of the user interface. ![](http://philserver.bplaced.net/fbe/img/tutorials/fbetut34.png)

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