diff --git a/roseus_smach/sample/state-machine-ros-sample.l b/roseus_smach/sample/state-machine-ros-sample.l
index f6b24e39e..08ed01269 100755
--- a/roseus_smach/sample/state-machine-ros-sample.l
+++ b/roseus_smach/sample/state-machine-ros-sample.l
@@ -45,6 +45,7 @@
 
 (defun exec-smach-simple () (setq count 0) (exec-state-machine (smach-simple)))
 (defun exec-smach-nested () (setq count 0) (exec-state-machine (smach-nested)))
+(defun exec-smach-double-nested () (setq count 0) (exec-state-machine (smach-double-nested)))
 (defun exec-smach-userdata () (exec-state-machine (smach-userdata) '((count . 1))))
 
-(warn ";;(exec-smach-simple)~%;;(exec-smach-nested)~%;;(exec-smach-userdata)~%")
+(warn ";;(exec-smach-simple)~%;;(exec-smach-nested)~%;;(exec-smach-double-nested)~%;;(exec-smach-userdata)~%")
diff --git a/roseus_smach/sample/state-machine-sample.l b/roseus_smach/sample/state-machine-sample.l
index c86bda399..345be77f9 100755
--- a/roseus_smach/sample/state-machine-sample.l
+++ b/roseus_smach/sample/state-machine-sample.l
@@ -18,6 +18,12 @@
 (defun func-bar (&rest args)
   (format t "Execute state BAR~%")
   :outcome2)
+(defun func-foo-foo (&rest args)
+  (format t "Execute state FOOFOO~%")
+  :outcome6)
+(defun func-bar-bar (&rest args)
+  (format t "Execute state BARBAR~%")
+  :outcome6)
 
 (defun smach-simple ()
   (let ((sm (instance state-machine :init)))
@@ -96,6 +102,37 @@
     sm-top ))
 
 
+(defun smach-double-nested ()
+  (let ((sm-top (instance state-machine :init))
+        (sm-sub (instance state-machine :init)))
+    ;; state instance can include other state-machine like function
+    (send sm-top :add-node (instance state :init "SUB" sm-sub))
+    (send sm-top :add-node (instance state :init "BAS" 'func-bas))
+    (send sm-top :goal-state :outcome5)
+    (send sm-top :start-state "BAS")
+    (send sm-top :add-transition "BAS" "SUB" :outcome3)
+    (send sm-top :add-transition "SUB" :outcome5 :outcome4)
+    ;; node instance can be args of :add-node, :start-state, :add-transition
+    (let ((foo-node (instance state :init "FOO" 'func-foo))
+          (sm-sub-sub (instance state-machine :init)))
+      (send sm-sub :add-node foo-node)
+      (send sm-sub :add-node (instance state :init "BAR" sm-sub-sub))
+      (send sm-sub :goal-state :outcome4)
+      (send sm-sub :start-state foo-node)
+      (send sm-sub :add-transition "FOO" "BAR" :outcome1)
+      (send sm-sub :add-transition "FOO" :outcome4 :outcome2)
+      (send sm-sub :add-transition "BAR" "FOO" :outcome7)
+      (let ((foo-foo-node (instance state :init "FOOFOO" 'func-foo-foo))
+            (bar-bar-node (instance state :init "BARBAR" 'func-bar-bar)))
+        (send sm-sub-sub :add-node foo-foo-node)
+        (send sm-sub-sub :add-node bar-bar-node)
+        (send sm-sub-sub :goal-state :outcome7)
+        (send sm-sub-sub :start-state foo-foo-node)
+        (send sm-sub-sub :add-transition "FOOFOO" "BARBAR" :outcome6)
+        (send sm-sub-sub :add-transition "BARBAR" :outcome7 :outcome6)))
+    sm-top ))
+
+
 (defun smach-simple-nested ()
   (let (sm-top sm-sub)
     (setq sm-sub
diff --git a/roseus_smach/test/test-samples.l b/roseus_smach/test/test-samples.l
index d1c51a0a4..a7407c649 100755
--- a/roseus_smach/test/test-samples.l
+++ b/roseus_smach/test/test-samples.l
@@ -10,7 +10,7 @@
 (ros::subscribe "/server_name/smach/container_status" smach_msgs::SmachContainerStatus
                 #'(lambda (msg) (push (send msg :active_states) *container-active-status*)))
 
-(defmacro run-test-smach (func outcome active-states)
+(defmacro run-test-smach (func outcome active-states &key (duration 5.0))
   (let ((test-func-name (read-from-string (format nil "test-~A" func))))
     `(deftest ,test-func-name
        (let (start-tm result)
@@ -22,7 +22,7 @@
          (setq elapsed-tm (ros::time- (ros::time-now) start-tm))
          (format *error-output* "received container-active-status is ~A, and takes ~A sec~%" *container-active-status* (send elapsed-tm :to-sec))
          (assert (= (length (remove nil *container-active-status*)) (length (remove nil ,active-states))) (format nil "length of container active status is ~A, but ~A~%" (length (remove nil ,active-states)) (length (remove nil *container-active-status*))))
-         (assert (eps= (send elapsed-tm :to-sec) (float (length ,active-states)) 5.0) (format nil "duration of container active status is equal to length of container active status (~A), but ~A~%" (length ,active-states) (send elapsed-tm :to-sec)))
+         (assert (eps= (send elapsed-tm :to-sec) (float (length ,active-states)) ,duration) (format nil "duration of container active status is equal to length of container active status (~A), but ~A~%" (length ,active-states) (send elapsed-tm :to-sec)))
          ))
     ))
 
@@ -40,6 +40,7 @@
 (run-test-smach exec-smach-simple3 :outcome4 '((FOO) (BAR) (FOO) (BAR) (FOO) (BAR) (FOO)))
 
 (run-test-smach exec-smach-nested :outcome5 '(nil (FOO) (BAR) (FOO) (BAR) (FOO) (BAR) nil (BAS) nil))
+(run-test-smach exec-smach-double-nested :outcome5 '(nil (FOO) nil (BARBAR) (FOOFOO) (FOO) nil (BARBAR) (FOOFOO) (FOO) nil (BARBAR) nil nil (BAS)) :duration 20.0)
 (run-test-smach exec-smach-simple-nested :outcome5 '(nil (FOO) (BAR) (FOO) (BAR) (FOO) (BAR) nil (BAS) nil))
 
 (run-test-smach exec-smach-userdata :outcome4 '((FOO) (BAR) (FOO) (BAR) (FOO)))