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• Documentation: Hosted onRead the Docs
• Homepage:DLR-RM.github.io/RAFCON/
• License:EPL
• Cheatsheet:Download Cheatsheet

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 andcontains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generatedusing 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 dependenciesare 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-cairosudo -H pip install --upgrade pipsudo -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 errorImportError: No module named cairo occurs, please install pycairo directlyvia:

pip install --user"pycairo==1.19.1"

Of course you can also directly use the RAFCON sources from GitHub.

cd /install/directorygit 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 yourPATH 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