Nikos,

> I have recently started using SMACH for task execution and so far I find it
> great.
> I am using Concurrence but I cannot get how to specify the transitions on
> succeeded and aborted to specific states.
>
> I have tried {'succeeded':'STATE_A'} and transitions={'succeeded':'STATE_A'}
> but with no luck.
>
> Does anyone know what's the right way of saying that on succeeded go to
> STATE_A and on aborted go to STATE_B?

Try to use the 'callbacks' method, described in section 2.2 of this
tutorial: <http://www.ros.org/wiki/smach/Tutorials/Concurrence%20container>.

Wim


-- 
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Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)