SMACC is a deterministic, asynchronous State Machine package for ROS, inspired by SMACH, written in C++, and utilizing the Boost Statechart Library and the actionlib interface.
Key features include…
The ability to run concurrent/orthogonal states
Utilization of the actionlib client interface
This package is to be a successor to SMACH, the State Machine Library for ROS written in Python by Jonathon Bohren, and attempts to imitate the look, feel and interface (the good parts) of SMACH.