Thank you Loy, this is exactly what I was looking for.
Is it possible to have those logs when the team come back?
Another question, is there a way to sim the robot and the behaviors written using SMACH?
In particular, I need an example of a big behavior running, including the smach introspection server info (for the structure of the machine and the information of the running program) and the logs of /rosout (for more information about the program itself)