SMACHA is a meta-scripting, templating, and code generation engine for rapid prototyping of ROS SMACH state machines.
The SMACHA documentation is available here.
If you use SMACHA in your work, please consider citing the following paper:
B. Ridge, T. Gašpar, and A. Ude. Rapid State Machine Assembly for Modular Robot Control using Meta-Scripting, Templating and Code Generation. In IEEE-RAS 17th International Conference on Humanoid Robots (Humanoids), pages 661–668, Birmingham, UK, November 2017.