I'm using smach to structure an hierarchical state machine. The top level fsm (top_fsm) has an object from class Listener which basically has a set of subscribers and data loggers.

Structured that way, the msgs coming in and logged independently of the fsm. However, I'd like all the states and substates in the fsm to have access to the listener, its members and methods. Based on members, the states compute the predefined conditions for transitions.

Can the "userdata" attribute have one of its "input_keys" as that Listener object? Any help is appreciated.

Riko