The R2 team has been using rttlua for mostly our entire time in the Orocos+ROS world. We find it very flexible and powerful, especially for complex deployments. Having the ability to write functions to accomplish simple (and not so simple) tasks prior to writing more complicated components to deal with things "the right way" is also very handy. We were controlling our legs long before we had controls components in place (admittedly not very well, but at least well enough to keep funding headed our way).

We just started investigating rFSM last week. We have been planning to use it for a while, just hadn't gotten to it yet. So far, so good, though. The lack of a graphical editor is a known issue, but not one we're struggling with yet. I personally haven't had experience with it, but that's going to change over the holidays.

--
Dustin Gooding
NASA/JSC Robotics
IM: dgooding [..] ...

On Dec 21, 2012, at 2:48 AM, Markus Klotzbuecher <markus [dot] klotzbuecher [..] ...> wrote:

> Dear List,
>
> I'm in the process of finishing the writing of my PhD text, and I
> would like to list some institutions or people who are using rFSM
> and/or rttlua and are finding it useful*.
>
> Feedback via list or by personal mail much appreciated!
>
> Thank you in advance.
> Markus
>
> * If you're not finding it useful, your feedback is likewise
> appreciated in a separate thread ;-)
>

2012/12/21 Markus Klotzbuecher <markus [dot] klotzbuecher [..] ...>:
> Dear List,
>
> I'm in the process of finishing the writing of my PhD text

end's coming :D

> , and I
> would like to list some institutions or people who are using rFSM
> and/or rttlua and are finding it useful*.
>
> Feedback via list or by personal mail much appreciated!
>
> Thank you in advance.
> Markus
>
> * If you're not finding it useful, your feedback is likewise
> appreciated in a separate thread ;-)
>

My robotics association (http://team-ard.com in french thought ...)
is using it for deployment purposes because it allows a real script
langage in Orocos (since RTT-scripts are restricted to exported
function and native syntax). It allows better scalability and error
monitoring.

I'm not using rFSM because (at my evaluation date) there were no
graphical tools to debug or develop (I know why ^^, time ...) so
RTT-FSM where functionnal enougth for my use case in low level and has
a very very readable format (so it reduces the problem of having a
graphical tool), and smach
http://www.ros.org/wiki/executive_smach?distro=fuerte for highlevel
fsm because it allows really nice quick and dirty solutions to create
new FSM in very few lines (and a simple, really not efficient, but
existing graphical debugging tool).

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