Hi knxa, I am wondering if this question would be better suited for http://answers.ros.org instead of this forum Any way, IMHO the SMACH/ActionLib approach would be a better fit for the scenario that you describe. You can define things like "Read Sensor A" as ROS services, things like "Move Motor B (distance x2, velocity v2)" as Actions and then write a SMACH script. This way you can create subtasks and combine them into more complex behaviors. I would recommend you to read [Actionlib](http://wiki.ros.org/actionlib) and [SMACH](http://wiki.ros.org/smach) documentation and tutorials. Best regards, Martin. --- [Visit Topic](https://discourse.ros.org/t/advice-for-a-simple-motion-control-machine-no-dynamic-navigation/1438/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: