Return to called state in smach

asked 2018-09-20 23:51:41 -0600

sjhansen3 gravatar image

I would like to create a wait_for_user_input state in smach for states Foo and Bar.

Once a user gives input the wait_for_user_input state should return to the state which transitioned to it.

For example Foo -> wait_for_user_input -> Foo.

What is the best way to do this?

It seems the only option is to create a wait_for_user_input state for Foo and Bar separately - but this seems to be quite a bit of code. Does anyone have a suggestion for a technique to make this more seamless?

Thanks! Steve

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