After thorough testing during the OROCOS workshop at the European
Robotics Forum 2012 in Odense, here's rFSM beta5 . Notable changes
are consolidation of "sista" and "csta" primitives into "state" (but
the old syntax will be still supported for a little while) and a real
for installing extensions.
For instance, to install the hook for writing to the current state to
an RTT port, you should write:
Also see the Cookbook.
There is now an rFSM cheatsheet 
The rest is mostly performance optimizations, etc. I don't expect many
changes anymore before 1.0. I suspect most future work will center
around extensions of all kinds.