SMACC

Supports ROS topics, services, and actions out of the box, ensuring tight integration with the robotic operating system ecosystem for immediate use in ROS applications.

Leverages Boost Statechart for static state machine checking, reducing runtime errors and testing effort, aligning with the philosophy of letting the compiler handle validation.

Implements Harel statecharts with orthogonals, enabling intuitive coding for complex robots with multiple hardware components, such as mobile bases and arms, as highlighted in the features.

Offers a growing collection of pre-built state machines that compile and run, like sm_dance_bot, accelerating development by providing jumpstart examples for common robotic behaviors.

Includes the SMACC1 Runtime Analyzer for visualization and debugging of ROS1 state machines, free for individual and academic use, though it is closed source.