Best implementation of robot state control

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Hello, i have a simple robot which different states:

• idle
• do something
• do something else
• ...

I wanted to change my states with some button inputs and every state has it own node.

I thought about a state machine with smach, but smach isn't under developing at the moment. Or can I use actionlib for that? I also found the package decision_making

What is the best approach to implement this in your experience? Or do you use something without ROS?

Thanks for your help