Table of Contents

1. Chapter 1 Installation
2. Chapter 2 Creating Robot Plans
   1. Section 2.1 State-variables and Regions
   2. Section 2.2 Creating Regions
   3. Section 2.3 Customizing Region Behavior
   4. Section 2.4 Waypoints
   5. Section 2.5 Creating Waypoints
   6. Section 2.6 Creating Boolean Regions
   7. Section 2.7 Customizing State-variable Sets
   8. Section 2.8 Writing Code in GSSP
3. Chapter 3 Running Robot Plans
   1. Section 3.1 The Meta-controller System
   2. Section 3.2 Creating Robot Drivers
   3. Section 3.3 Running the Meta-controller
   4. Section 3.4 Creating TCP Controllers
4. Chapter 4 Debugging
   1. Section 4.1 Log File Playback
5. Chapter 5 Integrative Examples
   1. Section 5.1 ROS Integration
   2. Section 5.2 Player/Stage Integration
6. Appendix A: GUI Cheat Sheet