<<StackHeader(executive_smach)>>

<<TOC(3)>>


<<Youtube(F3slROzVNbc)>>

<<Include(smach,,from="##aboutstart",to="##aboutend")>>

<<Include(smach,,from="##docstart",to="##docend")>>

== Additional State Types ==

See [[executive_smach/AdditionalStateTypes|AdditionalStateTypes]] for SMACH state classes with a variety of additional behaviors.

== Examples ==
On the [[smach/Tutorials|tutorials page]] you can find a number of easy examples. But if you are looking for some 'real' examples running SMACH:

 * '''PR2 Plugs Itself In'''. This is probably the most extensive example of SMACH usage to date. [[pr2_plugs]] [[pr2_plugs_gazebo_demo]]

 * '''PR2 Opens Doors''' [[pr2_doors]] [[pr2_doors_gazebo_demo]]




== Report a Bug ==
<<TracLink(ros-pkg executive_smach)>> 


## AUTOGENERATED DON'T DELETE
## CategoryStack