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The interim solution I found was to get xdot package from the following link: http://wiki.ros.org/xdot.

When you do $ git clone https://github.com/ros-visualization/rx.git (branch: groovy-devel) you will get folder "rx". You will need to take only "xdot" folder (inside the "rx" folder) and place it in your workspace, then do catkin_make.

Now you should be able to do $ rosrun smach_viewer smach_viewer.py.

You may get the following error message after you run smach_viewer:

File "/home/kt1e11/catkin_ws/src/xdot/src/xdot/xdot.py", line 480, in read_number return int(self.read_code()) ValueError: invalid literal for int() with base 10:

In that cast, you can just replace return int(self.read_code()) wit return int(float(self.read_code()))