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* src/node_fsm.cpp: Add src/node_fsm.cpp. * include/rise_motion/node_fsm.hpp: Add include/rise_motion/node_fsm.hpp.
* CMakeLists.txt:
- Add dependencies: rclcpp, rise_motion_messages.
- Add include dirs: include.
- Add executable: rise_motion_main.
- Link with rise_motion_messages.
* package.xml:
- Add dependencies: rclcpp, rise_motion_messages.
* src/rise_motion_main.cpp: Add minimal example.
- Moves through the states of the state machine and publishes
state update via StateCurrentMsg on rise_motion_state_changes.
Moves logging from the client code into the StateMachine class.
paulwetzel
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Dec 4, 2025
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This state machine looks good and fulfills the requirements that are laid out in the Issue #24
However, i think we should not merge this request yet, but wait for the actual ROS2 node to be set up, before integrating this.
The state machine is a central component of the node, and should be integrated in a way that it is efficient to use in a "ROS2-kind-of-way".
SO my proposal:
- We will keep this PR open, and keep the code in the back of our heads.
- As soon as the node is set up, we will revisit this PR and integrate the code back into the node after rebasing this branch here on the then-master.
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Creates a state machine according to #24 and implements a minimal example using the state machine.