- Documentation: Hosted on Read the Docs
- Homepage: DLR-RM.github.io/RAFCON/
- License: EPL
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.
Universal application
RAFCON is written in Python, can be extended with plugins and is hard- and middleware independent.
Visual programming
The sophisticated graphical editor can be used for the creation, execution and debugging of state machines.
Collaborative working
Share and reuse your state machines in form of libraries, stored as JSON strings in text files.
Before installing RAFCON, Python >=3.7, 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:
sudo apt-get install python-dev python-pip build-essential glade python-gi-cairo
sudo -H pip install --upgrade pip
sudo -H pip install --upgrade setuptools
- Python >=3.7
- pip (recent version required: v23 known to be working)
- pdm (recent version required: v2.9.3 known to be working)
pip install rafcon --user
The --user
flag is optional. If not set, RAFCON is installed globally (in this case you normaly need to have root privileges).
If during the installation the error ImportError: No module named cairo
occurs, please install pycairo directly
via:
pip install --user "pycairo==1.19.1"
Of course you can also directly use the RAFCON sources from GitHub.
cd /install/directory
git clone https://github.com/DLR-RM/RAFCON rafcon
No matter which installation option you choose, RAFCON can be started from any location using (make sure
/usr/local/bin
or ~/.local/bin
is in your PATH
environment variable):
rafcon
On a multi-python setup start rafcon using:
python<your-version> -m rafcon
If you want to uninstall RAFCON, all you need to do is call
pip uninstall rafcon