set_initial_state: set current_state to initial state

[k-okada]

Does anyone know how to use the Set as initialState' button in smach_viewer` or has it ever worked?

This button is used to issue ~/smach/container_init and executes

executive_smach/smach/src/smach/state_machine.py

Lines 410 to 422 in 31cc557

	def set_initial_state(self, initial_states, userdata=smach.UserData()):
	smach.logdebug("Setting initial states to " + str(initial_states))
	if len(initial_states) > 1:
	smach.logwarn("Attempting to set initial state to include more than"
	" one state, but the StateMachine container can only"
	" have one initial state. Taking the first one.")
	# Set the initial state label
	if len(initial_states) > 0:
	self._initial_state_label = initial_states[0]
	# Set local userdata
	self.userdata.update(userdata)

but it only updates _initial_state_label, which appears to have no effect on the content. I thought this feature used to work and stopped working at some point, but the first commit 88ce804, but it doesn't seem to be working. If anyone has saved the code prior to this, please let me know.

This PR allows you to force the initial state by clocking this button, see https://github.com/eacousineau/executive_smach_tutorials/blob/854024cc2bbed1ebf90181bef2a7086beca82b24/examples/state_machine_simple_introspection.py for an example.

hoge.mp4

[130s]

Could @k-okada or anyone resolve the conflict?