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I am currently developing a GUI using QT that changes based on an XML string it receives from a ROS message being sent from another QT GUI. This is working fine however I need to create a node using ROS and SMACH that will send different XML strings to the GUI based on what state the SMACH state machine is in.

I have no experience with SMACH and have been unable to find a good example of how to integrate a ROS Publisher and Subscriber with a SMACH state machine.

Any examples or help would be greatly appreciated.

Mario S
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swahilian
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  • there should be a visualizer with ros (`rosrun smach_visualizer smack_visualizer.py` or something like that should start it). Maybe you can find it's source take a look at that one? – kratenko Oct 31 '12 at 15:42

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Have a look at this - it should contain everything you need

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B)

si2zle
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