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The most intuitive way of building and implementing Finite State Machines is by using Python Coroutines and in this article, we find how and why.
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.