FlexBE  App
Onboard Status:
disconnected
Behavior Dashboard
Statemachine Editor
Runtime Control
Configuration
Version: 0.0.0

Overview

Package
Name
Description
Tags
Author
Date

Private Configuration

Variables enable easy configuration of constant internal values which are used multiple times. They are read-only and cannot be used in private functions.
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State Machine Userdata

The userdata of a state machine can be used to pass any data from one state to another. Userdata values may be changed by states during runtime. Make sure you define default values for all userdata keys.
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Behavior Parameters

These parameters can be set by the operator when this behavior is started via Runtime Control. Each parameter is identified by a unique variable name and displayed by using a label and providing usage advice. Depending on their type, some parameters may require additional specification. Parameters can be accessed as self.parameter_name.

Behavior Parameters

Private Functions

Defines which functions can be referenced by states that accept functions as parameters. Make sure that the interface of each function matches the requirements of the respective state. These functions can be implemented later in the generated code. Functions can be accessed as self.function_name.

State Machine Interface

Defines how the state machine of this behavior can be accessed when embedded in another behavior.
Outcomes
Input Keys
Output Keys

Configure Behavior Execution

Set available parameters for execution and start the current behavior. You will be able to control execution of the behavior at this page.


The selected behavior supports no parameters.


Waiting for Behavior





Start command has been sent.

Now waiting for confirmation from onboard behavior...

External Behavior Running


Behavior has been started from a different control instance.

You can load the currently running behavior and attach this GUI to it in order to monitor and control execution.

No connection!

You are currently not connected to the onboard behavior engine of the robot. As soon as you are connected, you can configure the behavior by setting the values of its parameters and then start execution.

Please execute the following steps to connect to the onboard behavior engine:
  • Make sure the onboard behavior engine is running in the current ROS environment. You can start it with the following command:


  • Make sure that operator control software is running for starting a behavior and monitoring its execution. You can start it with the following command:


  • Connect to the ROS master.


No behavior selected!

In order to start execution of a behavior, you need to have a saved behavior open. Please go to the Behavior Dashboard and load an existing behavior or create a new one and save it.

Please choose one of the following options to proceed:
  • Load an existing behavior to execute.


  • Save your current behavior (make sure it is complete and correct).


    Unsaved changes:


Sync

Block transitions which require at least autonomy.

(execute current state again from beginning)
(stay active, but suspend execution)

(stopped behaviors can't be resumed)

Behavior Feedback

Documentation

Runtime Settings

Configuration of controlling behaviors during runtime.
Heartbeat timeout: seconds
Restrict execution: (stops externally started behaviors)
Collapse feedback: Info    Warning    Error    Hint

Code Generation

Configuration of code files generated from this editor.
Default package:
Code indentation:
Explicit state package: (even if state class is unique)
Editor command:

Editor Settings

Configuration of developing or modifying behaviors.
Transition endpoints:
Grid size: px
Allow ROS commands: (requires ROS connection)
ROS command key:

ROS Properties

Overview of the ROS connection and FlexBE-related configuration.
ROS Status:
Namespace:

Workspace

Provides an overview of available state and behavior packages.
State parser:
Cache packages: (? ROS packages in cache)
Behavior Packages:
none
State Packages:
none

Behavior Synthesis

Incorporate any compatible external synthesis tool in order to automatically generate state machines.
Enable synthesis: (requires ROS connection)
Action topic:
Action type:
System:
Type:
Sequential execution based on outcomes.

      Display synthesis
Outcomes
Input Keys
Output Keys
   
Add New State
Name:
Type:
Type Selection
Package:
Filter:
Select Behavior
Package:   
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