Develop your robotic tasks using an intuitive graphical user interface
RAFCON uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.
RAFCON is written in Python, can be extended with plugins and is hard- and middleware independent.
The sophisticated graphical editor can be used for the creation, execution and debugging of state machines.
Share and reuse your state machines in form of libraries, stored as JSON strings in text files.
Before installing RAFCON, Python 2.7, pip and setuptools are required on your system. Most of the other dependencies are automatically resolved by pip/setuptools, but not all of them. Those need be be installed manually, too:
Installation requirements for Ubuntu 16.04
sudo apt-get install python-dev python-opengl python-gtkglext1 python-gtksourceview2 python-pip sudo -H pip2 install --upgrade pip sudo -H pip2 install --upgrade setuptools
Installation requirements for Ubuntu 18.04
sudo apt-get install python-dev python-opengl python-gtkglext1 python-gtksourceview2 python-pip build-essential glade python-glade2 libcanberra-gtk-module sudo -H pip2 install --upgrade pip sudo -H pip2 install --upgrade setuptools
If you are not using Ubuntu 16.04 or 18.04, please make sure that the following packages are installed:
- Python 2.7
- pip (recent version required: v18 known to be working)
- python-setuptools (recent version required: v40 known to be working)
Installing RAFCON (from PyPi)
pip2 install rafcon --user
--user flag is optional. If not set, RAFCON is installed globally.
Download RAFCON sources
cd /install/directory git clone https://github.com/DLR-RM/RAFCON rafcon
Installing RAFCON (non-editable from source)
If you don't want to edit the source code of RAFCON, it can be installed directly from source:
pip2 install /install/directory/rafcon/ --user
Installing RAFCON (editable from source)
If you want to be able to change the source code, you can install RAFCON in editable mode.
pip2 install --editable /install/directory/rafcon/ --user
Any changes in
/install/directory/rafcon/source will take effect when launching RAFCON.
No matter which installation option you choose, RAFCON can be started from any location using (make sure
~/.local/bin is in your
PATH environment variable):
Building the documentation
The documentation is build with sphinx:
sphinx-build -b html /install/directory/rafcon/doc /install/directory/rafcon/build_doc
This will build the documentation in the /install/directory/rafcon/build_doc folder. Pass
-b pdf to generate a PDF instead of a HTML page.
If you want to uninstall RAFCON, all you need to do is call
pip2 uninstall rafcon
Clean RAFCON directory
If you want to clean the RAFCON directory /install/directory/rafcon from any build/installation artifacts, you can do so with:
cd /install/directory/rafcon rm -r build/ build_doc/ .eggs/ .cache/