YASMIN: Yet Another State MachINe library for ROS 2

TL;DR

YASMIN is a new C++ and Python library for ROS 2 that simplifies designing, monitoring, and debugging robot behaviors using state machines, filling a gap left by fewer existing options for ROS 2.

Contribution

It introduces YASMIN, a state machine library for ROS 2 with default states and a web viewer, enhancing ease of use and debugging capabilities.

Findings

Provides default states to accelerate development

Includes a web viewer for monitoring and debugging

Available in C++ and Python for flexibility

Abstract

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.