Sounds like you want to use preemption.

On Tue, Sep 28, 2010 at 9:59 AM, Ruddick Lawrence <mrjogo@gmail.com> wrote:
> Hi,
> I recently started using SMACH for a non-ROS project, and so far it is
> great. One thing I was wondering is if there is a way to have transitions
> from nested state machines without having to wire it up from each of the
> substates. I attached a picture to illustrate what I mean: for example if a
> reset key is pressed, is there a way to self-transition SUB without having
> to have FOO and BAR (and any other substates I might want) all check if the
> reset button is pressed. I'm pretty sure I'm just not looking at it the
> right way. Thanks!
> Ruddick
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