The state-machine is built within ROS. Each state is its own ROS node and all nodes are controlled by a main cyborg_controller node. The ROS nodes can be found in separate repos on Github.
Overview
Class diagram:
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ros-arnl
The ros-arnl ROS node is developed by MobileRobots and handles communication with the robots actuators, sensors and navigation library.
From http://wiki.ros.org/ros-arnl:
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ROS rqt_graph:
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