[quote="mcamp, post:5, topic:1691"] SMACH does not do that? I think it does [/quote] Hmm tried this again and it does work :slight_smile: I think I've run into scenarios where it doesn't, either that or I'm crazy. Who knows. But thank you, think will help with my debugging. [quote="mcamp, post:5, topic:1691"] how do you do that? [/quote] I use wireless Xbox controller with a[ wireless dongle](https://www.amazon.com/Microsoft-Xbox-Wireless-Receiver-Windows/dp/B000HZFCT2/ref=sr_1_1?ie=UTF8&qid=1493241801&sr=8-1&keywords=xbox+360+dongle). The ROS package for this is called [joy](http://wiki.ros.org/joy). I then wrote a small python node to publish a string like "stop" or "go_to_kitchen" to the /controller_command topic. Then I use a [SMACH monitor state](http://wiki.ros.org/smach/Tutorials/MonitorState) to listen to the /controller_cmd topic and transition to a state according to what message it sees. --- [Visit Topic](https://discourse.ros.org/t/state-machine-visualization/1691/6) 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: