The outcome is a potential result of a state that the state returns after the execution of an action or behavior. From the preceding diagram, the outcomes are nav_plug_in, unplug, succeeded, aborted, preempted, and done. The results of states can be different and can do different things to different states. For instance, it may help in the transition to another state or may terminate the state. Hence, the outcome is irrelevant from the perspective of state. In ROS, outcomes are initialized along with the state initialization to ensure consistency and are returned after the execute() block (we shall look into them in the upcoming examples).