一、sudo apt-get install ros-indigo-smach ros-indigo-smach-ros ros-indigo-executive-smach ros-indigo-smach-viewer
二、sudo apt-get install python-easygui
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一、roslaunch rbx2_tasks fake_turtlebot.launch
二、rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz
三、rosrun rbx2_tasks patrol_smach.py
四、rosrun smach_viewer smach_viewer.py
五、rosrun rbx2_tasks patrol_smach.py
六、rosrun rbx2_tasks patrol_smach_iterator.py
七、rosrun rbx2_tasks patrol_smach_callback.py
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