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              Only released in EOL distros:  

              executive_teer: teer_example_turtle | teer_ros

              Package Summary

              High-level executive using teer, the task execution environment for robotics, from ETHZ ASL. Teer is a Python library proposing the use of co-routines (called tasks) to implement executives. Teer is an alternative to executives based on state machines such as smach.

              executive_teer: teer_example_turtle | teer_ros

              Package Summary

              High-level executive using teer, the task execution environment for robotics, from ETHZ ASL. Teer is a Python library proposing the use of co-routines (called tasks) to implement executives. Teer is an alternative to executives based on state machines such as smach.

              executive_teer: teer_example_turtle | teer_ros

              Package Summary

              High-level executive using teer, the task execution environment for robotics, from ETHZ ASL. Teer is a Python library proposing the use of co-routines (called tasks) to implement executives. Teer is an alternative to executives based on state machines such as smach.

              About teer

              Teer, which stands for task-execution environment for robotics, is a Python library proposing the use of co-routines (called tasks) to implement executives. Teer is an alternative to executives based on state machines such as smach. Teer provides the following features:

              • Tasks are written as sequential code in standard Python.
              • Tasks can wait for a certain duration, for conditions to become true or for the termination of other tasks.
              • Tasks can create new tasks and kill other tasks.
              • Tasks can pause or resume other tasks.
              • Tasks are implemented as continuations (co-routines) using the Python yield keyword.

              • Conditions are evaluated as rarely as possible, avoiding regular polling of their expressions.
              • Waits use rospy.Time and rospy.Timer.

              Compared to state-machines, teer allows to maintain sequential code for sequential actions, using multiple lightweight tasks to implement parallel flows of execution. Compared to multi-threading, the cooperative aspect of co-routines removes synchronisation hazards.

              Installation

              Installing teer is easy, just clone the git source somewhere in your ROS_PACKAGE_PATH:

              git clone --recursive git://github.com/ethz-asl/executive_teer.git

              Documentation

              Report a Bug

              You can report a bug on the ROS integration of teer on the .

              If you think the bug is in teer itself, please use its own bug tracker.

              Wiki: executive_teer (2012-03-07 18:04:20由StephaneMagnenat編輯)

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