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## title = 通用状态
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## description = 本教程将展示如何实现一个通用SMACH状态
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{{{#!python
from smach import State
}}}

创建状态的最一般(但通常最低效)的方法是从'状态'基类派生出来。在状态的执行方法中，你可以做任何你想做的事情。要知道，SMACH附带了一个有用的状态库，你可以使用它，而不必编写一个完整的自定义状态。


{{{
#!python
  class Foo(smach.State):
     def __init__(self, outcomes=['outcome1', 'outcome2']):
       # Your state initialization goes here
     
     def execute(self, userdata):
        # Your state execution goes here
        if xxxx:
            return 'outcome1'
        else:
            return 'outcome2'
}}}

一些好的代码实践:

 * 不要在构造函数中阻塞。如果你的状态需要等待另一个组件出现，请在单独的线程中执行此操作。



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## SMACHStatesCategory