Hi, folks in Duckietown!
My question is regarding a finite state machine (FSM) in Duckiebots. As far as I understand, the FSM can be built by the associated yaml file (attached), and it is essentially made up of states and their events.
In the yaml file, the events are implemented, for example,
This event sets tigger True but some other events set it False. What does that mean?
Thank you for your help 🙂
The trigger defines the value that the topic should take in order for this “event” to occur. When you say “This event sets trigger True but some other events set it False” – this is not quite right. (The FSM is not setting the values of the triggers. The FSM only publishes the mode topic and then various switches which can turn things on and off.) In the snippet that you show – this is actually the specification that the “at_stop_line” event has occurred, i.e. the value of “stop_line_filter_node/at_stop_line” has been set to True. It has been set to true but some other node – in this case the stop_line_filter_node.