[SM2.0] invalid outcome 'outcome_cb' from 03_CONC_NAV_DECISION

gistfile1.txt

[WARN] [1529319147.525252]: Saying <<Hi!>>
[WARN] [1529319147.526715]: subscribed to person_of_interest_filter
[INFO] [1529319147.537639]: Concurrent state 'SAY_HELLO' returned outcome 'succeeded' on termination.
[INFO] [1529319150.377275]: Concurrent state 'PERSON_CHECK' returned outcome 'true' on termination.
[INFO] [1529319150.380069]: Concurrent Outcomes: {'SAY_HELLO': 'succeeded', 'PERSON_CHECK': 'true'}
[INFO] [1529319150.381422]: State machine transitioning 'GREETING':'person_near'-->'INTRODUCE'
[INFO] [1529319150.382884]: Concurrence starting with userdata: 
	['nav_goal', 'nav_initial_state', 'product', 'product_initial_state', 'sss', 'greeting_initial_state', 'person_detection', 'intention_result']
[INFO] [1529319150.386967]: State machine starting in initial state '02_EMOTION_PLEASED' with userdata: 
	['nav_initial_state', 'product', 'voice_message', 'question', 'product_initial_state', 'person_detection', 'sss', 'product_search_result', 'greeting_initial_state', 'nav_goal', 'intention_result', 'search_goal']
[INFO] [1529319150.390905]: State machine transitioning '02_EMOTION_PLEASED':'succeeded'-->'02_SET_GENDER_AGE_WELCOME'
[INFO] [1529319150.395105]: State machine transitioning '02_SET_GENDER_AGE_WELCOME':'succeeded'-->'02_SAY_GENDER_AGE_WELCOME'
[WARN] [1529319150.398521]: Saying <<Hallo süße Maus>>
[INFO] [1529319150.401745]: State machine transitioning '02_SAY_GENDER_AGE_WELCOME':'succeeded'-->'02_SAY_INTRODUCTION'
[WARN] [1529319150.403675]: Saying <<Darf ich mich vorstellen. Paul!>>
[INFO] [1529319150.408894]: State machine transitioning '02_SAY_INTRODUCTION':'succeeded'-->'02_EMOTION_QUESTIONING'
[INFO] [1529319150.409926]: State machine transitioning '02_EMOTION_QUESTIONING':'succeeded'-->'02_RANDOM_PRODUCT_OR_OFFER'
[INFO] [1529319150.412112]: State machine transitioning '02_RANDOM_PRODUCT_OR_OFFER':'product'-->'02_PRODUCT_SEARCH'
[WARN] [1529319150.413088]: Asking <<Sucht du ein Produkt?>>
[INFO] [1529319156.781396]: State machine transitioning '02_PRODUCT_SEARCH':'search_request'-->'02_SET_PRODUCTSEARCH_DEFAULT'
[INFO] [1529319156.784065]: State machine terminating '02_SET_PRODUCTSEARCH_DEFAULT':'succeeded':'03_productsearch'
[INFO] [1529319156.786231]: Concurrent state 'INTRODUCE' returned outcome '03_productsearch' on termination.
INTRODUCE is inside outcome_map
[INFO] [1529319156.798191]: Concurrent state 'PERSON_CHECK' returned outcome 'preempted' on termination.
INTRODUCE is inside outcome_map
[INFO] [1529319156.799691]: Concurrent Outcomes: {'PERSON_CHECK': 'preempted', 'INTRODUCE': '03_productsearch'}
[INFO] [1529319156.801167]: State machine terminating 'INTRODUCE':'03_productsearch':'03_productsearch'
[INFO] [1529319156.802736]: State machine transitioning '02_GREETING':'03_productsearch'-->'03_PRODUCTSEARCH'
[INFO] [1529319156.804481]: Concurrence starting with userdata: 
	['nav_goal', 'nav_initial_state', 'product', 'discharge_initial_state', 'product_search_result', 'sss', 'product_initial_state', 'intention_result', 'search_goal']
[INFO] [1529319156.809785]: State machine starting in initial state '03_VOICE_CTRL_DECISION' with userdata: 
	['nav_goal', 'nav_initial_state', 'product', 'tts_monologs', 'voice_message', 'discharge_initial_state', 'question', 'product_search_result', 'sss', 'product_initial_state', 'intention_result', 'search_goal']
[WARN] [1529319156.813431]: 
 search request: xbox

[INFO] [1529319156.816556]: State machine transitioning '03_VOICE_CTRL_DECISION':'succeeded'-->'03_CONC_TRIGGER_PRODUCT_SEARCH'
[INFO] [1529319156.818419]: Concurrence starting with userdata: 
	['question', 'search_goal', 'sss']
[INFO] [1529319156.822621]: Concurrent state 'FF_SEARCH_MIMIC' returned outcome 'succeeded' on termination.
[INFO] [1529319158.627374]: Concurrent state 'TRIGGER_FF_SEARCH' returned outcome 'succeeded' on termination.
[INFO] [1529319158.629208]: Concurrent Outcomes: {'FF_SEARCH_MIMIC': 'succeeded', 'TRIGGER_FF_SEARCH': 'succeeded'}
[INFO] [1529319158.630483]: State machine transitioning '03_CONC_TRIGGER_PRODUCT_SEARCH':'succeeded'-->'03_SEARCH_RESULT_DECISION'
[INFO] [1529319158.631290]: State machine transitioning '03_SEARCH_RESULT_DECISION':'found'-->'03_EMOTION_FOUND'
[INFO] [1529319158.632287]: State machine transitioning '03_EMOTION_FOUND':'succeeded'-->'03_CONC_NAV_DECISION'
[INFO] [1529319158.634132]: Concurrence starting with userdata: 
	['product', 'question', 'product_search_result', 'sss', 'intention_result', 'search_goal']
[INFO] [1529319158.637843]: State machine starting in initial state '03_CHECK_PRODUCTLIST_ENABLED' with userdata: 
	['search_goal', 'sss', 'product_search_result']
[INFO] [1529319158.639212]: State machine starting in initial state '03_CHECK_NAV_ENABLED' with userdata: 
	['nav_initial_state', 'product', 'product_search_result', 'sss', 'nav_goal', 'intention_result']
[INFO] [1529319158.641241]: State machine transitioning '03_CHECK_PRODUCTLIST_ENABLED':'true'-->'03_CHECK_STELE_POS'
[INFO] [1529319158.642573]: State machine transitioning '03_CHECK_NAV_ENABLED':'true'-->'03_CHECK_BATT'
[INFO] [1529319158.646150]: State machine terminating '03_CHECK_STELE_POS':'no':'continue'
[ERROR] [1529319158.647011]: Userdata key 'product' not available. Available keys are: ['search_goal', 'sss', 'product_search_result']
[WARN] [1529319158.647510]: Attempting to copy output key 'product', but this key does not exist.
[ERROR] [1529319158.647970]: Userdata key 'nav_goal' not available. Available keys are: ['search_goal', 'sss', 'product_search_result']
[WARN] [1529319158.648389]: Attempting to copy output key 'nav_goal', but this key does not exist.
[INFO] [1529319158.648808]: Concurrent state 'SHOW_PRODUCT_LIST' returned outcome 'continue' on termination.
[INFO] [1529319158.650696]: State machine transitioning '03_CHECK_BATT':'high'-->'03_EMOTION_NAV_DECISION'
[INFO] [1529319158.651492]: State machine transitioning '03_EMOTION_NAV_DECISION':'succeeded'-->'03_NAV_DECISION_SET_QUESTION'
[INFO] [1529319158.652308]: State machine transitioning '03_NAV_DECISION_SET_QUESTION':'succeeded'-->'03_NAV_DECISION'
[WARN] [1529319158.655498]: Asking <<xbox ist bei Konsolen  im Erdgeschoss. Soll ichs dir zeigen?>>
[INFO] [1529319166.663647]: State machine terminating '03_NAV_DECISION':'guide_request':'guide_request'
[INFO] [1529319166.667155]: Concurrent state 'NAV_DECISION' returned outcome 'guide_request' on termination.
[INFO] [1529319166.668690]: Concurrent Outcomes: {'NAV_DECISION': 'guide_request', 'SHOW_PRODUCT_LIST': 'continue'}
[ERROR] [1529319166.670083]: InvalidTransitionError: Attempted to return outcome 'outcome_cb' from state '03_CONC_NAV_DECISION' of type '<smach.concurrence.Concurrence object at 0x7f9ac6bdf550>' which only has registered outcomes: ('service_request', 'new_search', 'aborted', 'navigate', 'preempted', 'search_request', 'timeout', 'call_staff', 'freetext_request', 'guide_request', 'order')
[ERROR] [1529319166.673079]: InvalidStateError: Could not execute child state 'PRODUCT_SEARCH': Traceback (most recent call last):
  File "/home/fmw/git/mojin_ws/src/executive_smach/smach/src/smach/concurrence.py", line 334, in _state_runner
    self._remappings[label]))
  File "/home/fmw/git/app_ws/src/msh/msh_statemachine/src/msh_statemachine/sm_03_productsearch.py", line 467, in execute
    ret =  super(SmProductSearch, self).execute(userdata)
  File "/home/fmw/git/mojin_ws/src/executive_smach/smach/src/smach/state_machine.py", line 359, in execute
    container_outcome = self._update_once()
  File "/home/fmw/git/mojin_ws/src/executive_smach/smach/src/smach/state_machine.py", line 266, in _update_once
    self._current_state.get_registered_outcomes()))
InvalidTransitionError: Attempted to return outcome 'outcome_cb' from state '03_CONC_NAV_DECISION' of type '<smach.concurrence.Concurrence object at 0x7f9ac6bdf550>' which only has registered outcomes: ('service_request', 'new_search', 'aborted', 'navigate', 'preempted', 'search_request', 'timeout', 'call_staff', 'freetext_request', 'guide_request', 'order')