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I have just enough experience to have similar problems.

MonitorState, as far as i can tell, just wraps ConditionState with a ros subscriber. Once the condition from ConditionState fails, MonitorState outcome switches from valid to invalid.

This does not directly answer the question, I know. I tried to fallback to testing callbacks with ConditionState, but I still receive an empty userdata dict.

I used the examples from pr2_plugs to test the ConditionState. Maybe you will get insight from this. If so, please share :-)

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