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yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
kilted

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

yasmin repository

yasmin yasmin_cli yasmin_demos yasmin_editor yasmin_factory yasmin_msgs yasmin_pcl yasmin_plugins_manager yasmin_ros yasmin_viewer

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/uleroboticsgroup/yasmin.git
VCS Type git
VCS Version main
Last Updated 2026-04-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yasmin 5.0.0
yasmin_cli 5.0.0
yasmin_demos 5.0.0
yasmin_editor 5.0.0
yasmin_factory 5.0.0
yasmin_msgs 5.0.0
yasmin_pcl 5.0.0
yasmin_plugins_manager 5.0.0
yasmin_ros 5.0.0
yasmin_viewer 5.0.0

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++.

[![License: GPL-v3.0](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/releases) [![Code Size](https://img.shields.io/github/languages/code-size/uleroboticsgroup/yasmin.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/uleroboticsgroup/yasmin?branch=main)](https://libraries.io/github/uleroboticsgroup/yasmin?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/commits/main) [![GitHub issues](https://img.shields.io/github/issues/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/uleroboticsgroup/yasmin)](https://github.com/uleroboticsgroup/yasmin/pulls) [![Contributors](https://img.shields.io/github/contributors/uleroboticsgroup/yasmin.svg)](https://github.com/uleroboticsgroup/yasmin/graphs/contributors) [![Python Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/cpp-formatter.yml?branch=main) [![Documentation Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/documentation-deployment.yml/badge.svg)](https://uleroboticsgroup.github.io/yasmin) | ROS 2 Distro | Build and Test | Docker Image | | :----------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Foxy** | [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy) | | **Galactic** | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | | **Humble** | [![Humble Build and Test](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble) | | **Iron** | [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron) | | **Jazzy** | [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy) | | **Kilted** | [![Kilted Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=kilted) | | **Rolling** | [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling) |

Table of Contents

  1. Key Features
  2. Installation
  3. Demos
  4. Cross-Language ROS Interface Communication
  5. TF States
  6. YASMIN Editor
  7. YASMIN Viewer
  8. YASMIN CLI
  9. YASMIN Factory
  10. YASMIN PCL
  11. YASMIN Plugins Manager
  12. Citations

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.
  • Concurrence: Run multiple states in parallel with configurable join policies.
  • XML State Machines: Define state machines in XML files using the Factory and load them at runtime with plugins.
  • Graphical Editor: Visual editor for building state machines with drag-and-drop functionality.
  • Web Viewer: Features an integrated web viewer for real-time monitoring of state machine execution.
  • CLI Tool: Command-line interface for listing, inspecting, running, validating, editing, and testing state machines.
  • PCL Integration: Predefined states for Point Cloud Library (PCL) operations, including filtering, segmentation, and point cloud I/O.
  • Plugin Architecture: Extensible plugin system for registering custom states usable across C++ and Python.
  • State Metadata: States and state machines support descriptions and typed input/output blackboard key annotations.
  • Cross-Language Serialization: Share ROS interfaces between Python and C++ states via binary serialization.
  • TF Integration: TfBufferState creates and shares a tf2 buffer and transform listener through the blackboard so all states in the machine can perform coordinate frame lookups.

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
colcon build

Then, you can run the tests as follow:

File truncated at 100 lines see the full file

CONTRIBUTING