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FlexBE State and Behavior Discovery

The WebUI scans ROS packages by reading package.xml export tags.

State Packages

A package is treated as a FlexBE state package if package.xml includes:

<package>
  ...
  <export>
    <flexbe_states />
  </export>
  ...
</package>

It should provide Python class definitions per FlexBE state conventions.

Example:

Behavior Packages

A package is treated as a FlexBE behavior package if package.xml includes:

<package>
  ...
  <export>
    <flexbe_behaviors />
  </export>
  ...
</package>

Expected layout:

  • manifest/ folder with behavior manifests
  • Python module/package containing generated behavior code

Symlink Installs

ROS workspaces built with --symlink-install are supported. The behavior and state parsers follow directory symlinks so the WebUI can load source files through the installed package layout.

To avoid recursive symlink cycles, the parsers track each visited directory by its real path. If another path resolves to a directory that has already been parsed, that branch is skipped.