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.
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