https://github.com/swri-robotics/ros_scxml

A c++ wrapper library for Qt SCXML state machines
https://github.com/swri-robotics/ros_scxml

Last synced: 2 months ago
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A c++ wrapper library for Qt SCXML state machines

• Host: GitHub
• URL: https://github.com/swri-robotics/ros_scxml
• Owner: swri-robotics
• Created: 2020-01-13T21:48:35.000Z (almost 5 years ago)
• Default Branch: master
• Last Pushed: 2022-09-06T19:01:12.000Z (over 2 years ago)
• Last Synced: 2024-08-03T02:02:47.106Z (5 months ago)
• Language: C++
• Homepage:
• Size: 244 KB
• Stars: 13
• Watchers: 6
• Forks: 11
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst

Awesome Lists containing this project

• awesome-ros-tools - ros_scxml - lightweight finite state machine library that uses the [SCXML](https://en.wikipedia.org/wiki/SCXML) standard.  (Other / Sensors)

README

        
# ros_scxml

[![Build Status](https://travis-ci.com/swri-robotics/ros_scxml.svg?branch=master)](https://travis-ci.com/swri-robotics/ros_scxml)

[![Github Issues](https://img.shields.io/github/issues/swri-robotics/ros_scxml.svg)](http://github.com/swri-robotics/ros_scxml/issues)

[![license - bsd 2 clause](https://img.shields.io/:license-BSD%202--Clause-blue.svg)](https://opensource.org/licenses/BSD-2-Clause)

Lightweight finite state machine library that uses the [SCXML](https://commons.apache.org/proper/commons-scxml/guide/scxml-documents.html) standard

---

## Prerequisites

### QT 5

The `QScxml` module is available from `Qt` version 5.7 and higher and is currently only distributed on Ubuntu 20.04. Use the following command to install it:

```bash

sudo apt install libqt5scxml5-dev libqt5scxml5-bin

```

If your distribution or version of `Qt` does not have the `QScxml` module there are several options for getting it:

#### Qt Modules PPA (Recommended)

[This PPA](https://launchpad.net/~skycoder42/+archive/ubuntu/qt-modules) provides binary distributions of the `QScxml` module for Ubuntu 17.10 and 18.04.

These binaries install to the standard install directory and should be the same sub-version as the other `Qt` modules for the distribution.

This the most straightforward solution for Ubuntu 17.10/18.04.

To install, run:

```bash

sudo add-apt-repository ppa:beineri/ppa:skycoder42/qt-modules

sudo apt update

sudo apt install libqt5scxml-dev

```

#### `/opt` Directory Qt Install (PPA)

[This PPA](https://launchpad.net/~beineri) provides binary distributions of various versions of Qt for various operating systems.

These binaries install to the `/opt` directory, which is not a standard search path for `cmake`.

As such, several build and run environment variables need to be modified in order to use this distribution of `Qt`.

Installing a version of `Qt` from this PPA alongside the system installation can also cause version tagging issues when compiling code that depends on `Qt`.

To install, run:

```bash

sudo add-apt-repository ppa:beineri/opt-qt-5.12.10-bionic

sudo apt-get update

sudo apt install qt512scxml

```

> Note: Edit command above for your desired version of `Qt`

In order to make this installation find-able to `cmake`, several environment variables must be set.

Locate your Qt installation directory in the `/opt` directory and set the environment variables as follows:

```bash

export CMAKE_PREFIX_PATH=/opt/qt/lib/cmake:$CMAKE_PREFIX_PATH

export LD_LIBRARY_PATH=/opt/qt/lib:/opt/qt/plugins:$LD_LIBRARY_PATH

```

#### Alternative Download (Qt Installer)

The library can be downloaded from [here](http://download.qt.io/official_releases/qt/).  Run the installation script with root access and follow the on screen instructions.