Installation

Installation using pip

Create an environment (or use once of your already existing python environments). It is not recommended installing directly, without pip environment, on the host.

    python -m venv my_env
    source my_env/bin/activate

When you want to use BeTFSM in a pure python environment, you can install it using pip:

    pip install "git+https://github.com/Robotics-Research-Group-KUL/betfsm.git#egg=betfsm&subdirectory=betfsm"

After this installation, your can run one of the examples (make sure that you have activated your environment):

    gui_example_large

You can look at the available examples in:

my_env/lib/python3.12/site-packages/betfsm_examples/

These examples can be started using the associated scripts in my_env/bin or directly from the above directory (in that case, make sure that the environment is activated)

If you manage your python project using pyproject.toml (with standard setuptools), you can add a dependency on BeTFSM using:

dependencies = [
    "betfsm @ git+https://github.com/Robotics-Research-Group-KUL/betfsm.git#subdirectory=betfsm"
]

Installation in ROS2

You can add BeTFSM to your workspace by cloning the reposity in the src directory of your workspace:

cd ./src
git clone https://github.com/Robotics-Research-Group-KUL/betfsm.git

You can build using the usual ROS2 approach (for an editable install):

cd your-workspace
colcon-build --symlink-install

The examples are installed and can be run using ROS2:

ros2 run betfsm gui_example_large

The examples can also be run directly from their source directory:

your-workspace/src/betfsm/betfsm/betfsm_examples

installation in ROS2 together with Crospi

See the cROSpi website