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I think your assessment is correct, Smach assumes the role of the main loop itself, and is kind of awkward to use asynchronously. The Smach roadmap has some pointers to initial experiments with asynchronous Smach. There is even a repository containing an implementation and example usage of asynchronous Smach.
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I think your assessment is correct, Smach assumes the role of the main loop itself, and is kind of awkward to use asynchronously. The Smach roadmap has some pointers to initial experiments with asynchronous Smach. There is even a repository containing an implementation and example usage of asynchronous Smach.
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