I am using roskinetic and learning the state machine implementations in ROS. I am trying to run two states in parallel, following the code provided here http://wiki.ros.org/smach/Tutorials/Concurrent%20States However, I am unable to visualize the states FOO and BAR. The diagram has SMPATH, BAS, CON and the corresponding outcomes (outcome 3,4,5 and 6).

Main function definition

# Create the top level SMACH state machine
sm_top = smach.StateMachine(outcomes=['outcome6'])

sis = smach_ros.IntrospectionServer('introspection_server', sm_top, '/SM_ROOT')
sis.start()

# Open the container
with sm_top:

    smach.StateMachine.add('BAS', Bas(),
                           transitions={'outcome3':'CON'})

    sm_con = smach.Concurrence(outcomes=['outcome4','outcome5'],
                               default_outcome='outcome4',
                               outcome_map={'outcome5':
                                   { 'FOO':'outcome2',
                                     'BAR':'outcome1'}})

    with sm_con:
        smach.Concurrence.add('FOO', Foo())
        smach.Concurrence.add('BAR', Bar())

    smach.StateMachine.add('CON', sm_con,
                           transitions={'outcome4':'CON',
                                        'outcome5':'outcome6'})

outcome = sm_top.execute()
rospy.spin()
sis.stop()

There is an edge 'outcome4' from CON to itself and another edge 'outcome5' to 'outcome6' but FOO and BAR are missing in the graph view.