# Smach for ROS 2

**URL:** <https://discourse.openrobotics.org/t/smach-for-ros-2/3175>\
**Category:** ROS General\
**Tags:** ros2\
**Created:** [November 14, 2017, 5:58am UTC](https://discourse.openrobotics.org/t/smach-for-ros-2/3175 "2017-11-14T05:58:08Z")\
**Posts on this page:** 1\
**Showing post:** 1

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**Author:** ![Seiwert](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/seiwert/32/1377_2.png) [@Seiwert](https://discourse.openrobotics.org/u/Seiwert)\
**Post date:** [November 14, 2017, 5:58am UTC](https://discourse.openrobotics.org/t/smach-for-ros-2/3175/1 "2017-11-14T05:58:08Z")

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Hey All,

I was just curious as to whether or not there has been any work/initial planning done for porting [smach](http://wiki.ros.org/smach) to ROS 2?

I’ve checked the [Collaboration Bulletin Board](http://discourse.ros.org/t/ros-2-collaboration-bulletin-board/2239) and I noticed that work has been done for the [design of actions](https://github.com/ros2/design/pull/143) but there was no mention of smach.

Would this be a situation where ROS 2 actions would strive to be inherently compatible with smach or would smach update to become compatible with ROS 2 actions? I know that the ROS 2 action design was inspired by [actionlib](http://wiki.ros.org/actionlib) so I’m curious as to how far off smach would be from already being compatible.

Thanks for your time.

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