VizRob

VizRob is a set of visualizations for the execution of nested state machine using execution time and logs produced by the program. For more information, visit: http://mcamp.github.io/VizRob/

VizRob first conception works with SMACH, a State Machine api for Python: http://wiki.ros.org/smach

While VizRob is thought to work with other State Machine APIs, for now it only connection is SMACH.

VizRob SMACH use

Installation

To install VizRob and use it with your SMACH project, you first need to download Pharo

Then, open the playground and do-it the following code:

Gofer it smalltalkhubUser: 'mcamp' project: 'MachineVisualization'; configurationOf: 'VizRobSMACH'; loadDevelopment

Use VizRob

After the installation of VizRob, you have to click anywher and open VizRob SMACH UI

Then, fill the text fields with the name of the topics for the structure and the status update of your SMACH project. To have access to those topics, remember to active the Introspection Server

When you are ready to recollect data (via the execution of your program or a ROS bag), you can proceed by click the Start button.

To stop recollecting data, you can click the Stop button. VizRob SMACH should stop when there is node that publish to the status update topic. However, this feature is not well tested, so use it with caution.

To open the visualization, after stop the recollection of data, you can click the Open button and navigate in VizRob

Issues

If you want to report an issue, you can do it using the issue tracker of our github project: https://github.com/mcamp/VizRob

Feedback

If you have any feedback, comment, etc. you can contact me directly: mcampusa@dcc.uchile.cl