propagate userdata smach

edit

First, am I right in assuming input_keys and output_keys are the preferred method of propagating information throughout a SMACH State Machine? From what I can see, this requires a good deal of bookeeping, but if there's no other way, then that's that.

I cannot get userdata passing between a State Machine and a Sub-Container. Here's what I would expect to work.

class QuickTestMain( smach.State ):
    def __init__( self, name ):
        smach.State.__init__( self, outcomes = ['succeeded','aborted','preempted'] )
        self.count = 0
        self.name = name

    def execute( self, userdata ):
        r = rospy.Rate( 1 )
        for i in xrange( 5 ):
            self.count += 1
            rospy.logout( '%s at count %3.2f' % (self.name, self.count))
            r.sleep()
        return 'succeeded'
class PrintStr(smach.State):
    def __init__(self, ins = 'Hello'):
        smach.State.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'],
                             input_keys=['in_key'],output_keys=['print_data'])
        self.ins = ins
    def execute(self, userdata):
        userdata.print_data=userdata.in_key  
        rospy.logout( 'Received input data: %s' % userdata.in_key )  
        return 'succeeded'
def sms():
    smc = smach.StateMachine( outcomes=['succeeded', 'aborted', 'preempted'],
                              input_keys=['outtie'])
    print smc.userdata.outtie # Fails
    with smc:
        smach.StateMachine.add('MAIN2', QuickTestMain('main2'),transitions={'succeeded':'succeeded'})
    return smc
if __name__ == '__main__':
    rospy.init_node( 'tmp_test')
    sm = smach.StateMachine(outcomes=['succeeded','aborted','preempted'],output_keys=['five'])
    sm.userdata.five='5'
    print sm.userdata.five
    with sm:
        smach.StateMachine.add( 'PS1', PrintStr(), transitions={'succeeded':'SMS'},remapping={'in_key':'five'})
        smach.StateMachine.add( 'SMS', sms(), transitions={'succeeded':'succeeded'},remapping={'outtie':'five'})
    sis = IntrospectionServer( 'sm_test', sm, '/SM_TEST' )
    sis.start()
    rospy.sleep( 5 )
    sm.execute()
    sis.stop()

I am attempting to pass userdata from a State Machine to a sub-SM with the remapping command, but apparently this doesn't work for Sub-SM ?

Is there anywhere in the docs I could get more info on this? Thanks