论文标题
Yasmin：ROS 2的另一个州立机器库
YASMIN: Yet Another State MachINe library for ROS 2
论文作者
论文摘要
状态机是定义机器人行为的常见机制，可以根据可识别阶段定义它们。有几个图书馆可以放松ROS 1中的状态机器的实现，例如SMACH或SMACC，但是ROS 2的替代方案较少。Yasmin是另一个专门为ROS 2设计的图书馆，用于使用State Machines来简化机器人行为的设计。它在C ++和Python中可用，提供了一些默认状态以加快开发的速度，以及一个用于监视系统执行并帮助调试的网络查看器。
State machines are a common mechanism for defining behaviors in robots, defining them based on identifiable stages. There are several libraries available for easing the implementation of state machines in ROS 1, as SMACH or SMACC, but there are fewer alternatives for ROS 2. YASMIN is yet another library specifically designed for ROS 2 for easing the design of robotic behaviors using state machines. It is available in C++ and Python, provides some default states to speed up the development, and a web viewer for monitoring the execution of the system and helping in the debugging.
