digraph pastafarianism {
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
"Tutorial Eight" [label="Tutorial Eight\n--SuccessOnAll(-)--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
Topics2BB [label=Topics2BB, shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
"Tutorial Eight" -> Topics2BB;
Scan2BB [label=Scan2BB, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Topics2BB -> Scan2BB;
Cancel2BB [label=Cancel2BB, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Topics2BB -> Cancel2BB;
Battery2BB [label=Battery2BB, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Topics2BB -> Battery2BB;
subgraph  {
label=children_of_Topics2BB;
rank=same;
Scan2BB [label=Scan2BB, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Cancel2BB [label=Cancel2BB, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Battery2BB [label=Battery2BB, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

Tasks [label=Tasks, shape=octagon, style=filled, fillcolor=cyan, fontsize=9, fontcolor=black];
"Tutorial Eight" -> Tasks;
"Battery Low?" [label="Battery Low?", shape=ellipse, style=filled, fillcolor=ghostwhite, fontsize=9, fontcolor=black];
Tasks -> "Battery Low?";
"Flash Red" [label="Flash Red", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Battery Low?" -> "Flash Red";
Scan [label=Scan, shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
Tasks -> Scan;
"Scan or Die" [label="Scan or Die", shape=octagon, style=filled, fillcolor=cyan, fontsize=9, fontcolor=black];
Scan -> "Scan or Die";
"Ere we Go" [label="Ere we Go", shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
"Scan or Die" -> "Ere we Go";
UnDock [label=UnDock, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Ere we Go" -> UnDock;
"Scan or Be Cancelled" [label="Scan or Be Cancelled", shape=octagon, style=filled, fillcolor=cyan, fontsize=9, fontcolor=black];
"Ere we Go" -> "Scan or Be Cancelled";
"Cancelling?" [label="Cancelling?", shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
"Scan or Be Cancelled" -> "Cancelling?";
"Cancel?" [label="Cancel?", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Cancelling?" -> "Cancel?";
"Move Home" [label="Move Home", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Cancelling?" -> "Move Home";
"Result2BB\n'cancelled'" [label="Result2BB\n'cancelled'", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Cancelling?" -> "Result2BB\n'cancelled'";
subgraph  {
label="children_of_Cancelling?";
rank=same;
"Cancel?" [label="Cancel?", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Move Home" [label="Move Home", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Result2BB\n'cancelled'" [label="Result2BB\n'cancelled'", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

"Move Out and Scan" [label="Move Out and Scan", shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
"Scan or Be Cancelled" -> "Move Out and Scan";
"Move Out" [label="Move Out", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Move Out and Scan" -> "Move Out";
Scanning [label="Scanning\n--SuccessOnOne--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
"Move Out and Scan" -> Scanning;
"Context Switch" [label="Context Switch", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Scanning -> "Context Switch";
Rotate [label=Rotate, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Scanning -> Rotate;
"Flash Blue" [label="Flash Blue", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Scanning -> "Flash Blue";
subgraph  {
label=children_of_Scanning;
rank=same;
"Context Switch" [label="Context Switch", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Rotate [label=Rotate, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Flash Blue" [label="Flash Blue", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

"Move Home*" [label="Move Home*", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Move Out and Scan" -> "Move Home*";
"Result2BB\n'succeeded'" [label="Result2BB\n'succeeded'", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Move Out and Scan" -> "Result2BB\n'succeeded'";
subgraph  {
label="children_of_Move Out and Scan";
rank=same;
"Move Out" [label="Move Out", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Scanning [label="Scanning\n--SuccessOnOne--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
"Move Home*" [label="Move Home*", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Result2BB\n'succeeded'" [label="Result2BB\n'succeeded'", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

subgraph  {
label="children_of_Scan or Be Cancelled";
rank=same;
"Cancelling?" [label="Cancelling?", shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
"Move Out and Scan" [label="Move Out and Scan", shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
}

Dock [label=Dock, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Ere we Go" -> Dock;
Celebrate [label="Celebrate\n--SuccessOnOne--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
"Ere we Go" -> Celebrate;
"Flash Green" [label="Flash Green", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Celebrate -> "Flash Green";
Pause [label=Pause, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Celebrate -> Pause;
subgraph  {
label=children_of_Celebrate;
rank=same;
"Flash Green" [label="Flash Green", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Pause [label=Pause, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

subgraph  {
label="children_of_Ere we Go";
rank=same;
UnDock [label=UnDock, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Scan or Be Cancelled" [label="Scan or Be Cancelled", shape=octagon, style=filled, fillcolor=cyan, fontsize=9, fontcolor=black];
Dock [label=Dock, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Celebrate [label="Celebrate\n--SuccessOnOne--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
}

Die [label=Die, shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
"Scan or Die" -> Die;
Notification [label="Notification\n--SuccessOnOne--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
Die -> Notification;
"Flash Red*" [label="Flash Red*", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Notification -> "Flash Red*";
"Pause*" [label="Pause*", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Notification -> "Pause*";
subgraph  {
label=children_of_Notification;
rank=same;
"Flash Red*" [label="Flash Red*", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
"Pause*" [label="Pause*", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

"Result2BB\n'failed'" [label="Result2BB\n'failed'", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Die -> "Result2BB\n'failed'";
subgraph  {
label=children_of_Die;
rank=same;
Notification [label="Notification\n--SuccessOnOne--", shape=parallelogram, style=filled, fillcolor=gold, fontsize=9, fontcolor=black];
"Result2BB\n'failed'" [label="Result2BB\n'failed'", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

subgraph  {
label="children_of_Scan or Die";
rank=same;
"Ere we Go" [label="Ere we Go", shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
Die [label=Die, shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
}

"Send Result" [label="Send Result", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Scan -> "Send Result";
subgraph  {
label=children_of_Scan;
rank=same;
"Scan or Die" [label="Scan or Die", shape=octagon, style=filled, fillcolor=cyan, fontsize=9, fontcolor=black];
"Send Result" [label="Send Result", shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

Idle [label=Idle, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
Tasks -> Idle;
subgraph  {
label=children_of_Tasks;
rank=same;
"Battery Low?" [label="Battery Low?", shape=ellipse, style=filled, fillcolor=ghostwhite, fontsize=9, fontcolor=black];
Scan [label=Scan, shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
Idle [label=Idle, shape=ellipse, style=filled, fillcolor=gray, fontsize=9, fontcolor=black];
}

subgraph  {
label="children_of_Tutorial Eight";
rank=same;
Topics2BB [label=Topics2BB, shape=box, style=filled, fillcolor=orange, fontsize=9, fontcolor=black];
Tasks [label=Tasks, shape=octagon, style=filled, fillcolor=cyan, fontsize=9, fontcolor=black];
}

event_scan_button [label="event_scan_button: -", shape=box, style=filled, color=blue, fillcolor=white, fontsize=8, fontcolor=blue, width=0, height=0, fixedsize=False];
Scan2BB -> event_scan_button  [color=blue, constraint=True];
event_cancel_button [label="event_cancel_button: -", shape=box, style=filled, color=blue, fillcolor=white, fontsize=8, fontcolor=blue, width=0, height=0, fixedsize=False];
event_cancel_button -> "Cancel?"  [color=blue, constraint=False];
Cancel2BB -> event_cancel_button  [color=blue, constraint=True];
battery [label="battery: sensor_msgs.msg.B...", shape=box, style=filled, color=blue, fillcolor=white, fontsize=8, fontcolor=blue, width=0, height=0, fixedsize=False];
Battery2BB -> battery  [color=blue, constraint=True];
battery_low_warning [label="battery_low_warning: False", shape=box, style=filled, color=blue, fillcolor=white, fontsize=8, fontcolor=blue, width=0, height=0, fixedsize=False];
battery_low_warning -> "Battery Low?"  [color=blue, constraint=False];
Battery2BB -> battery_low_warning  [color=blue, constraint=True];
scan_result [label="scan_result: -", shape=box, style=filled, color=blue, fillcolor=white, fontsize=8, fontcolor=blue, width=0, height=0, fixedsize=False];
scan_result -> "Send Result"  [color=blue, constraint=False];
"Result2BB\n'cancelled'" -> scan_result  [color=blue, constraint=True];
"Result2BB\n'succeeded'" -> scan_result  [color=blue, constraint=True];
"Result2BB\n'failed'" -> scan_result  [color=blue, constraint=True];
}
