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Have you heard Smach? http://www.ros.org/wiki/smach If I got it right, this may be what you are looking for.

Some terms may be different then what you get used to but see if you can define your nodes as states.

Have you heard Smach? http://www.ros.org/wiki/smach If I got it right, understand correctly, this may be what you are looking for.

Some terms may be different then than what you get are used to but see if you can define your nodes as states.states and turn them into state machines by adding transitions.