Added support for multiple outcomes for each state when using Concurrence class

[carlosmccosta]

Changed the outcome_map structure in Concurrence class from {outcome:{state1:outcome1, state2:outcome2}} to {outcome:[{state1:outcome1}, {state2:outcome2}]} for allowing the specification of several outcomes for a single state (the previous implementation would not allow state1:outcome1a and state1:outcome1b, since dictionaries do not allow repeated keys).

[Timple]

This would be easy to make backwards compatible by checking if the input is a list. If not -> convert to list with single element.

Without this I don't see this getting merged.

[carlosmccosta]

Thank you for the feedback 👍
The last commit added backwards compatibility.
As such, merging this PR should add functionality without the need to update existing code from end users.

[Timple]

Great, I think this is better 🙂

But I'm going to disappoint you here, I don't have anything to say in this repository. And since only 1 PR got merged since 2018 I'm going to guess it'll take a while before this gets merged.

Don't lose hope and please keep the PR open in case someone takes maintainership of this repo.

[carlosmccosta]

We internally are using the branch associated with this PR, but it would be great if this PR was merged into the official repository.

[carlosmccosta]

I updated this PR for ros noetic:
https://github.com/carlosmccosta/executive_smach/commits/concurrence_with_list_of_outcomes_noetic

I can either update this PR branch or create a new PR with the noetic rebased branch.

[130s]

@carlosmccosta Sorry for a very late response. If you could update the branch toward noetic, I'm happy to merge (same as #90 (comment)).