Package Summary

Tags No category tags.
Version 1.1.0
License Apache License 2.0
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-01-19
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package that exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.

Additional Links


  • Micha Sende


  • Micha Sende


Build Status

This package exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.


This package depends on the following message definitions: * smach_msgs * cpswarm_msgs

The communication between CPSs is based on the CPSwarm Communication Library.

The state that is exchanged is read from a SMACH state machine.

Further required packages are: * roscpp


Run the launch file

roslaunch state_exchanger state_exchanger.launch

to launch the state_exchanger node.

The launch file can be configured with following parameters: * id (integer, default: 1) The identifier (ID) of the CPS used for name spacing in simulation. * output (string, default: screen) Whether to show the program output (screen) or to write it to a log file (log).

In the param subdirectory there is the parameter file state_exchanger.yaml that allows to configure the behavior of the state_exchanger node.



The state_exchanger node publishes behavioral states of this CPS to the rest of the swarm and publishes the state received from the other swarm members locally. The state is taken from a locally running SMACH state machine. If the CPS is in multiple states, only the first one is considered.

Subscribed Topics

Published Topics


  • ~loop_rate (real, default: 1.5) The frequency in Hz at which to run the control loops.
  • ~queue_size (integer, default: 10) The size of the message queue used for publishing and subscribing to topics.
  • ~timeout (real, default: 20.0) The time in seconds after which another CPS is considered to have left the swarm.
  • ~sm_path (string, default: /SM_TOP) The path of the smach state machine whose state shall be exchanged.

Code API

state_exchanger package code API documentation


Changelog for package state_exchanger

1.1.0 (2019-10-31)

  • Initial release of state_exchanger
  • Contributors: Micha Sende

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files


No message files found.


No service files found


No plugins found.

Recent questions tagged state_exchanger at