SMACH - states with fixed duration

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Hi all,

For a university project I want to create state machine simulation in which some states should have a fixed duration before they're transitioned out of to the next state. I was thinking of using SMACH to construct this state machine, under the assumption that the behavior I want is easily implementable. I was thinking of implementing this behavior using rospy.sleep(time) using just the generic state container, see the example below. However, I'm doubting whether this is the neatest solution though, or if there is a different software package out there that could do this better.

Your thoughts are appreciated.

Martijn