add_auto not behaving as expected

[adivardi]

When using the add_auto function, the resulting transitions are not as expected from the documentation. I am not sure if it is a bug or I am misreading the text (if so, many of my colleagues have done the exact mistake)

Using this method, I add connector_outcomes for all the outcomes of the state. I then use transitions with the intent of overwriting some of the outcomes defined by connector_outcomes, following the documentation:

@param transitions: A dictionary mapping state outcomes to other state
        labels. If one of these transitions follows the connector outcome
        specified in the constructor, **the provided transition will override
        the automatically generated connector transition**.

However, when running this, the transition specified do not actually overwrite connector_outcomes and instead are ignored.

Example (modified from the tutorial)

class Foo(smach.State):
    def __init__(self):
        smach.State.__init__(self, outcomes=['succeeded','failed'])
        self.counter = 0

    def execute(self, userdata):
        rospy.loginfo('Executing state FOO')
        if self.counter < 3:
            self.counter += 1
            return 'succeeded'
        else:
            return 'failed'


# define state Bar
class Bar(smach.State):
    def __init__(self):
        smach.State.__init__(self, outcomes=['succeeded'])

    def execute(self, userdata):
        rospy.loginfo('Executing state BAR')
        return 'succeeded'


# main
def main():
    rospy.init_node('smach_example_state_machine')

    # Create a SMACH state machine
    sm = smach.StateMachine(outcomes=['succeeded', 'failed'])

    # Open the container
    with sm:
        # Add states to the container
        smach.StateMachine.add_auto('FOO', Foo(),
                                    connector_outcomes=['succeeded', 'failed'],
                                    transitions={'failed': 'failed'})

        smach.StateMachine.add('BAR', Bar(),
                               transitions={'succeeded':'succeeded'})

    # Execute SMACH plan
    outcome = sm.execute()

if __name__ == '__main__':
    main()

My expectation in this case is the Foo will have transition from succeeded to BAR and from failed to failed. However, visualizing this SM, I get: