ROS Index
Repository Summary
| Checkout URI | https://github.com/uleroboticsgroup/yasmin.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| yasmin | 3.3.0 |
| yasmin_demos | 3.3.0 |
| yasmin_msgs | 3.3.0 |
| yasmin_ros | 3.3.0 |
| yasmin_viewer | 3.3.0 |
README
YASMIN (Yet Another State MachINe)
YASMIN is a project focused on implementing robot behaviors using Finite State Machines (FSM). It is available for ROS 2, Python and C++.
[](https://opensource.org/license/gpl-3-0) [](https://github.com/uleroboticsgroup/yasmin/releases) [](https://github.com/uleroboticsgroup/yasmin?branch=main) [](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [](https://github.com/uleroboticsgroup/yasmin/commits/main) [](https://github.com/uleroboticsgroup/yasmin/issues) [](https://github.com/uleroboticsgroup/yasmin/pulls) [](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main)
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| **Foxy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Galatic** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Humble** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Iron** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Jazzy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Kilted** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Rolling** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
Table of Contents
Key Features
- ROS 2 Integration: Integrates with ROS 2 for easy deployment and interaction.
- Support for Python and C++: Available for both Python and C++, making it flexible for a variety of use cases.
- Rapid Prototyping: Designed for fast prototyping, allowing quick iteration of state machine behaviors.
- Predefined States: Includes states for interacting with ROS 2 action clients, service clients, and topics.
- Data Sharing with Blackboards: Utilizes blackboards for data sharing between states and state machines.
- State Management: Supports cancellation and stopping of state machines, including halting the current executing state.
- Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
Installation
Debian Packages
To install YASMIN and its packages, use the following command:
sudo apt install ros-$ROS_DISTRO-yasmin ros-$ROS_DISTRO-yasmin-*
Building from Source
Follow these steps to build the source code from this repository:
cd ~/ros2_ws/src
git clone https://github.com/uleroboticsgroup/yasmin.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
cd ~/ros2_ws
colcon build
Note for Deprecated or Rolling ROS 2 Distros
If you are using a deprecated ROS 2 distribution (e.g., Foxy or Galactic) or the Rolling distribution, install the example interfaces:
sudo apt install -y ros-$ROS_DISTRO-example-interfaces
Docker
If your operating system doesn’t support ROS 2, docker is a great alternative. You can use an image from Dockerhub or create your own images. First of all, to build the image you have to use the following command:
## Assuming you are in the YASMIN project directory
docker build -t yasmin .
To use a shortcut the docker build, you may use the following command:
## Assuming you are in the YASMIN project directory
make docker_build
After the image is created, run a docker container with the following command:
docker run -it --net=host --ipc=host --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority" --entrypoint /bin/bash yasmin
To use a shortcut the docker run, you may use following command:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/uleroboticsgroup/yasmin.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| yasmin | 3.3.0 |
| yasmin_demos | 3.3.0 |
| yasmin_msgs | 3.3.0 |
| yasmin_ros | 3.3.0 |
| yasmin_viewer | 3.3.0 |
README
YASMIN (Yet Another State MachINe)
YASMIN is a project focused on implementing robot behaviors using Finite State Machines (FSM). It is available for ROS 2, Python and C++.
[](https://opensource.org/license/gpl-3-0) [](https://github.com/uleroboticsgroup/yasmin/releases) [](https://github.com/uleroboticsgroup/yasmin?branch=main) [](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [](https://github.com/uleroboticsgroup/yasmin/commits/main) [](https://github.com/uleroboticsgroup/yasmin/issues) [](https://github.com/uleroboticsgroup/yasmin/pulls) [](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main)
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| **Foxy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Galatic** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Humble** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Iron** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Jazzy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Kilted** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Rolling** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
Table of Contents
Key Features
- ROS 2 Integration: Integrates with ROS 2 for easy deployment and interaction.
- Support for Python and C++: Available for both Python and C++, making it flexible for a variety of use cases.
- Rapid Prototyping: Designed for fast prototyping, allowing quick iteration of state machine behaviors.
- Predefined States: Includes states for interacting with ROS 2 action clients, service clients, and topics.
- Data Sharing with Blackboards: Utilizes blackboards for data sharing between states and state machines.
- State Management: Supports cancellation and stopping of state machines, including halting the current executing state.
- Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
Installation
Debian Packages
To install YASMIN and its packages, use the following command:
sudo apt install ros-$ROS_DISTRO-yasmin ros-$ROS_DISTRO-yasmin-*
Building from Source
Follow these steps to build the source code from this repository:
cd ~/ros2_ws/src
git clone https://github.com/uleroboticsgroup/yasmin.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
cd ~/ros2_ws
colcon build
Note for Deprecated or Rolling ROS 2 Distros
If you are using a deprecated ROS 2 distribution (e.g., Foxy or Galactic) or the Rolling distribution, install the example interfaces:
sudo apt install -y ros-$ROS_DISTRO-example-interfaces
Docker
If your operating system doesn’t support ROS 2, docker is a great alternative. You can use an image from Dockerhub or create your own images. First of all, to build the image you have to use the following command:
## Assuming you are in the YASMIN project directory
docker build -t yasmin .
To use a shortcut the docker build, you may use the following command:
## Assuming you are in the YASMIN project directory
make docker_build
After the image is created, run a docker container with the following command:
docker run -it --net=host --ipc=host --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority" --entrypoint /bin/bash yasmin
To use a shortcut the docker run, you may use following command:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/uleroboticsgroup/yasmin.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| yasmin | 3.3.0 |
| yasmin_demos | 3.3.0 |
| yasmin_msgs | 3.3.0 |
| yasmin_ros | 3.3.0 |
| yasmin_viewer | 3.3.0 |
README
YASMIN (Yet Another State MachINe)
YASMIN is a project focused on implementing robot behaviors using Finite State Machines (FSM). It is available for ROS 2, Python and C++.
[](https://opensource.org/license/gpl-3-0) [](https://github.com/uleroboticsgroup/yasmin/releases) [](https://github.com/uleroboticsgroup/yasmin?branch=main) [](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [](https://github.com/uleroboticsgroup/yasmin/commits/main) [](https://github.com/uleroboticsgroup/yasmin/issues) [](https://github.com/uleroboticsgroup/yasmin/pulls) [](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main)
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| **Foxy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Galatic** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Humble** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Iron** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Jazzy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Kilted** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Rolling** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
Table of Contents
Key Features
- ROS 2 Integration: Integrates with ROS 2 for easy deployment and interaction.
- Support for Python and C++: Available for both Python and C++, making it flexible for a variety of use cases.
- Rapid Prototyping: Designed for fast prototyping, allowing quick iteration of state machine behaviors.
- Predefined States: Includes states for interacting with ROS 2 action clients, service clients, and topics.
- Data Sharing with Blackboards: Utilizes blackboards for data sharing between states and state machines.
- State Management: Supports cancellation and stopping of state machines, including halting the current executing state.
- Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
Installation
Debian Packages
To install YASMIN and its packages, use the following command:
sudo apt install ros-$ROS_DISTRO-yasmin ros-$ROS_DISTRO-yasmin-*
Building from Source
Follow these steps to build the source code from this repository:
cd ~/ros2_ws/src
git clone https://github.com/uleroboticsgroup/yasmin.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
cd ~/ros2_ws
colcon build
Note for Deprecated or Rolling ROS 2 Distros
If you are using a deprecated ROS 2 distribution (e.g., Foxy or Galactic) or the Rolling distribution, install the example interfaces:
sudo apt install -y ros-$ROS_DISTRO-example-interfaces
Docker
If your operating system doesn’t support ROS 2, docker is a great alternative. You can use an image from Dockerhub or create your own images. First of all, to build the image you have to use the following command:
## Assuming you are in the YASMIN project directory
docker build -t yasmin .
To use a shortcut the docker build, you may use the following command:
## Assuming you are in the YASMIN project directory
make docker_build
After the image is created, run a docker container with the following command:
docker run -it --net=host --ipc=host --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority" --entrypoint /bin/bash yasmin
To use a shortcut the docker run, you may use following command:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/uleroboticsgroup/yasmin.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| yasmin | 3.3.0 |
| yasmin_demos | 3.3.0 |
| yasmin_msgs | 3.3.0 |
| yasmin_ros | 3.3.0 |
| yasmin_viewer | 3.3.0 |
README
YASMIN (Yet Another State MachINe)
YASMIN is a project focused on implementing robot behaviors using Finite State Machines (FSM). It is available for ROS 2, Python and C++.
[](https://opensource.org/license/gpl-3-0) [](https://github.com/uleroboticsgroup/yasmin/releases) [](https://github.com/uleroboticsgroup/yasmin?branch=main) [](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [](https://github.com/uleroboticsgroup/yasmin/commits/main) [](https://github.com/uleroboticsgroup/yasmin/issues) [](https://github.com/uleroboticsgroup/yasmin/pulls) [](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main)
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| **Foxy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Galatic** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Humble** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Iron** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Jazzy** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Kilted** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
| **Rolling** | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) | [](https://uleroboticsgroup.github.io/yasmin/latest) |
Table of Contents
Key Features
- ROS 2 Integration: Integrates with ROS 2 for easy deployment and interaction.
- Support for Python and C++: Available for both Python and C++, making it flexible for a variety of use cases.
- Rapid Prototyping: Designed for fast prototyping, allowing quick iteration of state machine behaviors.
- Predefined States: Includes states for interacting with ROS 2 action clients, service clients, and topics.
- Data Sharing with Blackboards: Utilizes blackboards for data sharing between states and state machines.
- State Management: Supports cancellation and stopping of state machines, including halting the current executing state.
- Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
Installation
Debian Packages
To install YASMIN and its packages, use the following command:
sudo apt install ros-$ROS_DISTRO-yasmin ros-$ROS_DISTRO-yasmin-*
Building from Source
Follow these steps to build the source code from this repository:
cd ~/ros2_ws/src
git clone https://github.com/uleroboticsgroup/yasmin.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
cd ~/ros2_ws
colcon build
Note for Deprecated or Rolling ROS 2 Distros
If you are using a deprecated ROS 2 distribution (e.g., Foxy or Galactic) or the Rolling distribution, install the example interfaces:
sudo apt install -y ros-$ROS_DISTRO-example-interfaces
Docker
If your operating system doesn’t support ROS 2, docker is a great alternative. You can use an image from Dockerhub or create your own images. First of all, to build the image you have to use the following command:
## Assuming you are in the YASMIN project directory
docker build -t yasmin .
To use a shortcut the docker build, you may use the following command:
## Assuming you are in the YASMIN project directory
make docker_build
After the image is created, run a docker container with the following command:
docker run -it --net=host --ipc=host --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority" --entrypoint /bin/bash yasmin
To use a shortcut the docker run, you may use following command:
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.