Problem changing the system modes when there are rules

Commencez par examiner les règles du mode système et le comportement de reconfiguration descendante décrits dans l’issue. Déterminez si une commande peut faire passer le système de COMPROMISED à DEFAULT alors que la règle de garde continue de s’appliquer ; le travail est considéré comme terminé lorsque le comportement pris en charge ou sa limitation est documenté et couvert par un test approprié.

Hi all

I am trying to use system modes for a system composed of these nodes: {nav2, manipulator, camera, guard}. guard is a special node that detects if the system has been compromised. In this case, all the nodes should be in mode COMPROMISED and camera in the inactive state. The specification is:

# system modes safety benchmark
---

safety:
  ros__parameters:
    type: system
    parts:
      manipulator
      nav2
      camera
      guard
    modes:
      __DEFAULT__:
        manipulator: active.__DEFAULT__
        nav2: active.__DEFAULT__
        camera: active.__DEFAULT__
        guard: active.__DEFAULT__
      COMPROMISED:
        manipulator: active.COMPROMISED
        nav2: active.COMPROMISED
        camera: inactive.COMPROMISED
        guard: active.COMPROMISED
    rules:
      guard_detect_compomise_in_default:
        if_target: active.__DEFAULT__
        if_part: [guard, active.COMPROMISED]
        new_target: active.COMPROMISED
      guard_detect_default_in_compromise:
        if_target: active.COMPROMISED
        if_part: [guard, active.__DEFAULT__]
        new_target: active.__DEFAULT__

manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.5
      COMPROMISED:
        ros__parameters:
          max_torque: 0.1

nav2:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          forbidden_areas: false
      COMPROMISED:
        ros__parameters:
          forbidden_areas: true

guard:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          compromised_system: false
      COMPROMISED:
        ros__parameters:
          compromised_system: true

camera:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          use_sim_time: false
      COMPROMISED:
        ros__parameters:
          use_sim_time: false

If I change the mode of guard, all the system reacts as I want. BUT if I want to command all the system to go from COMPROMISED to __DEFAULT__ I can't do it because guard is COMPROMISED, and that doesn't let the system reconfigure to __DEFAULT__.

Is there any way to combine the bottom-up rules with the possibility of changing the system mode (an up-bottom reconfiguration)?

Thanks!!