fontname

< node label = "localize" fontname = "Arial" fontcolor = "#005A9C" fontsize = "11" style = "dashed" fillcolor = "#FFFFFF" id = "state_localize" shape = "Mcircle" />

< node label = "dont\nmove" fontcolor = "#005A9C" fontsize = "11" style = "filled" fillcolor = "#FFFFFF" fontname = "Arial" id = "state_dont_move" shape = "circle" />

< node label = "turn" fontcolor = "#005A9C" fontsize = "11" style = "filled" fillcolor = "#FFFFFF" fontname = "Arial" id = "state_turn" shape = "circle" />

< node label = "go" fontcolor = "#005A9C" fontsize = "11" style = "filled" fillcolor = "#FFFFFF" fontname = "Arial" id = "state_go" shape = "circle" />

< node id = "start" shape = "point" />

< node id = "start_0" label = "if" />

< node id = "start_1" label = "else if" />

< node id = "start_2" label = "else if" />

< node id = "start_3" label = "else if" />

< node id = "start_4" label = "else" />

< edge from = "start" to = "start_0" dir = "none" style = "solid" />

< node id = "start_0_" shape = "box" fontsize = "11" style = "solid" fontname = "Arial" label = "state\nrunning\nless than\n3 seconds" />

< edge from = "start_0" to = "start_0_" dir = "none" style = "solid" />

< edge from = "start_0_" minlen = "2" style = "solid" to = "state_localize" />

< node id = "start_1_" shape = "box" fontsize = "11" style = "solid" fontname = "Arial" label = "head switch\npressed\n(>100ms)" />

< edge from = "start_1" to = "start_1_" dir = "none" style = "solid" />

< edge from = "start_1_" minlen = "2" style = "solid" to = "state_dont_move" />

< node id = "start_2_" shape = "box" fontsize = "11" style = "solid" fontname = "Arial" label = "waited\ntoo long" />

< edge from = "start_2" to = "start_2_" dir = "none" style = "solid" />

< edge from = "start_2_" minlen = "2" style = "solid" to = "state_turn" />

< node id = "start_3_" shape = "box" fontsize = "11" style = "solid" fontname = "Arial" label = "not localized" />

< edge from = "start_3" to = "start_3_" dir = "none" style = "solid" />

< edge from = "start_3_" minlen = "2" style = "solid" to = "state_localize" />

< edge from = "start_4" minlen = "2" style = "solid" to = "state_go" />