Interrupt or hold the execution of a state

asked 2014-06-25 21:56:06 -0500

Mehdi. gravatar image

Is there a nice way to interrupt or hold the execution of state in Smach? For example the robot is doing some task (actions) and suddenly the light is turned off. The robot stops moving and waits until the light is on again and if it takes too long the robot cancels its tasks and goes back to the idle state. I don't remember seeing anything similar in Smach tutorials.

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