new_contents: #!/usr/bin/env python
  
  from flexbe_core import EventState, Logger
  from flexbe_core.proxy import ProxySubscriberCached
  from snd_msgs.msg import Status
  
  
  class WaitStarterState(EventState):
      """
      Wait that the starter is removed from the robot.
  
      -- status_topic  string  Name of the status topic.
  
      <= start                 The starter has been removed.
      """
  
      def __init__(self, status_topic):
          super(WaitStarterState, self).__init__(outcomes=['start'])
          self._topic = status_topic
          self._sub = ProxySubscriberCached({self._topic: Status})
  
      def execute(self, userdata):
          if self._sub.has_msg(self._topic):
              msg = self._sub.get_last_msg(self._topic)
              if not msg.starter:
                  return 'start'
  
subject: Add a wait_starter_state.