Miguel Ángel González Santamarta

@santiregui, thanks for the ideas, I'll try to change the hidden nested state machines and I also want to try to fix the problem with the edges. I removed simple_node...

Hi @AndersonYu7, as a state machine (FSM) is a state, you can add an FSM to another FSM in the same way as a state. [Here](https://github.com/uleroboticsgroup/yasmin/blob/main/yasmin_demos/yasmin_demos/nav_demo.py) you have an example.

Hey @WZHwerk5, the action state involves using ROS 2 actions which, as far as I know, cannot be paused/resumed. However, pausing/resuming a state could be a good feature. Do you...

In YASMIN, all states can be implemented to be canceled. In the case of the action states, canceling a state means canceling the action server. An example of action state...

Hey @WZHwerk5, how is this going?

Hi @jonyktan, you have how to cancel an action in the previous comments. > In YASMIN, all states can be implemented to be canceled. In the case of the action...

Let us consider the [action_client_demo.py](https://github.com/uleroboticsgroup/yasmin/blob/main/yasmin_demos/yasmin_demos/action_client_demo.py). In this example, a FSM is created with an ActionState. Then, the FSM is executed inside the main thread of the program. To overview an...

Hi @jonyktan, `KeyboardInterrupt` cancels the state machine since I want to stop all the demos. However, as mentioned before, you can create a service that cancels a state. What if...

> Also, I don't think cancelling the action should cancel the action server, as the action server should be independent of the action client (the ActionState). @jonyktan Cancling an action...

Hi @aminballoon, do you want a feature to skip a state and move to another state using the transitions? Maybe something similar to the [state cancel](https://github.com/uleroboticsgroup/yasmin/blob/575d5d61663b8f895238cb3f7159bce73bd872f4/yasmin/yasmin/state_machine.py#L57) from the StateMachine that...