There is a launch file to run all necessary nodes.
I divided everything into three pkg:
-command_transmiter: it is a talker that sends if to enter the play state and sends for now two numbers which is the position of the person.
-fsm: which presents the fsm which has a listener to receive commands and a talker to send the position to reach which also in this case are two values x and y.
-position_receiver: which presents a listener that takes the position to reach from the fsm.