Hi Shahmi,

I think the twoLevelMTTD_stack could be interesting for you. (
www.ros.org/wiki/twoLevelMTTD_stack )
Actually I'm writing some wiki pages on it (work in progress, so some
information are not completed yet).
If that stack is useful for you, a feedback will be appreciate.

Hope this help,
Enea Scioni
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