Thanks for the help, I got it now.
But I have another question.
I want to pass an output of an action in a state, lets say State_A, into 
another state State_B. State_B is inside a Concurrence but State_A is 
outside of it. Is this possible?

So far I have managed to pass parameters by using userdata, result_slots 
and remapping between states in the same state_machine.
However, when one state is inside a Concurrence, it complains that 
userdata is empty.
Any ideas?

Thanks again
Nikos

On 02/23/2011 07:43 PM, Wim Meeussen wrote:
> 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
>
>