How to program a series of different tasks? SMACH?

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Hi,

I am wondering how I can learn my robot to execute a series of tasks.

Like this example:
First: move to a position on map
Second: say something
Third: move to docking station

I came across SMACH and built a state machine.
But when it comes to actions and sending goals like PoseWithCovarianceStamped, I don't know how to do it. I looked through some tutorials but it didn't help me a lot.

Also the switching between C++ and Python is a bit annoying to me, because I practically programme C++ and don't really know Python.

Is it an acceptable solution to just have a main.cpp and use "if" clauses as a "state machine"?
So I can programme all in C++?

Help appreciated :)