copy xdot from https://github.com/jbohren/xdot,

smach_viewer/CMakeLists.txt

@@ -4,8 +4,10 @@ project(smach_viewer)
 
 find_package(catkin REQUIRED COMPONENTS rostest)
 
+catkin_python_setup()
+
 catkin_package(
-  CATKIN_DEPENDS smach_ros xdot smach_msgs
+  CATKIN_DEPENDS smach_ros smach_msgs
   )
 
 # Install targets

smach_viewer/package.xml

@@ -25,8 +25,10 @@
 
   <!-- Dependencies needed after this package is compiled. -->
   <run_depend>smach_ros</run_depend>
-  <run_depend>xdot</run_depend>
   <run_depend>smach_msgs</run_depend>
+  <!-- originally depends on xdot : https://github.com/jbohren/xdot/blob/2.0.1/package.xml#L25-L26 -->
+  <run_depend>wxpython</run_depend>
+  <run_depend>graphviz</run_depend>
 
   <export>
 

smach_viewer/scripts/smach_viewer.py

@@ -30,7 +30,6 @@
 #
 # Author: Jonathan Bohren 
 
-import roslib; roslib.load_manifest('smach_viewer')
 import rospy
 
 from smach_msgs.msg import SmachContainerStatus,SmachContainerInitialStatusCmd,SmachContainerStructure
@@ -45,13 +44,36 @@
 import colorsys
 
 import wxversion
-wxversion.select("2.8")
+if wxversion.checkInstalled("2.8"):
+    wxversion.select("2.8")
+else:
+    print("wxversion 2.8 is not installed, installed versions are {}".format(wxversion.getInstalled()))
 import wx
 import wx.richtext
 
 import textwrap
 
-import xdot
+## this import system (or ros-released) xdot
+# import xdot
+## need to import currnt package, but not to load this file
+# http://stackoverflow.com/questions/6031584/importing-from-builtin-library-when-module-with-same-name-exists
+def import_non_local(name, custom_name=None):
+    import imp, sys
+
+    custom_name = custom_name or name
+
+    path = filter(lambda x: x != os.path.dirname(os.path.abspath(__file__)), sys.path)
+    f, pathname, desc = imp.find_module(name, path)
+
+    module = imp.load_module(custom_name, f, pathname, desc)
+    if f:
+        f.close()
+
+    return module
+
+smach_viewer = import_non_local('smach_viewer')
+from smach_viewer import xdot
+##
 import smach
 import smach_ros
 

smach_viewer/setup.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+   packages=['smach_viewer', 'smach_viewer.xdot'],
+   package_dir={'': 'src'}
+)
+
+setup(**d)

smach_viewer/src/smach_viewer/xdot/__init__.py

@@ -0,0 +1,3 @@
+import wxxdot
+import xdot_qt
+