I&#39;ve run across some curious behavior within smach, and I was curious if others have observed similar issues.<br><br>The issue arises when using a Concurrency container _and_ the smach_viewer.  In essence, when running my state machine with smach_viewer and without concurrency, the state transitions are almost instantaneous.  The same applies when running without the smach_viewer and with the concurrency section.  However, when I run both the concurrency container and smach_viewer simultaneously, _all_ state transitions take 7+ seconds.   If I start off without the viewer, the transitions are instantaneous, but degrade as soon as the viewer launches.<br>
<br>Any thoughts or suggestions?<br clear="all"><br>~Travis Deyle<br>
PhD student @ Georgia Tech&#39;s Healthcare Robotics Lab<br>
Co-Founder <a href="http://www.Hizook.com" target="_blank">www.Hizook.com</a> -- Robotics News for Academics &amp; 
Professionals<br><br><br>PS -- Occasionally I get the following smach_viewer error:<br><br>[ERROR] [WallTime: 1303127819.346248] bad callback: &lt;bound method SmachViewerFrame._status_msg_update of &lt;__main__.SmachViewerFrame; proxy of &lt;Swig Object of type &#39;wxFrame *&#39; at 0x953f420&gt; &gt;&gt;<br>
Traceback (most recent call last):<br>  File &quot;/opt/ros/diamondback/stacks/ros_comm/clients/rospy/src/rospy/topics.py&quot;, line 563, in _invoke_callback<br>    cb(msg)<br>  File &quot;/opt/ros/diamondback/stacks/executive_smach_visualization/smach_viewer/smach_viewer.py&quot;, line 659, in _status_msg_update<br>
    if container.update_status(msg):<br>  File &quot;/opt/ros/diamondback/stacks/executive_smach_visualization/smach_viewer/smach_viewer.py&quot;, line 146, in update_status<br>    self._local_data._data = pickle.loads(msg.local_data)<br>
  File &quot;/usr/lib/python2.6/pickle.py&quot;, line 1374, in loads<br>    return Unpickler(file).load()<br>  File &quot;/usr/lib/python2.6/pickle.py&quot;, line 858, in load<br>    dispatch[key](self)<br>  File &quot;/usr/lib/python2.6/pickle.py&quot;, line 1090, in load_global<br>
    klass = self.find_class(module, name)<br>  File &quot;/usr/lib/python2.6/pickle.py&quot;, line 1124, in find_class<br>    __import__(module)<br>ImportError: No module named geometry_msgs.msg._PoseStamped<br><br>