Thank you Loy, this is exactly what I was looking for. Is it possible to have those logs when the team come back? Another question, is there a way to sim the robot and the behaviors written using SMACH? In particular, I need an example of a big behavior running, including the smach introspection server info (for the structure of the machine and the information of the running program) and the logs of /rosout (for more information about the program itself) --- [Visit Topic](https://discourse.ros.org/t/smach-projects/2397/7) 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: