[FEA] Allow deactivating nodes when system is activated.

SHM YAML 設定から始め、一覧にある Lifecycle および /actuation/change_mode のサービス呼び出しを使って問題を再現します。LEFT に切り替えるときの mode_manager の動作、特にノードの非アクティブ化エントリを調べます。モード変更が segfault なしで完了し、選択したノードが設定どおり非アクティブになれば完了です。

There is a need to selectively disable the function of a node, that's say deactivating a node in a certain system mode.

Should the following config work? Thanks!

SHM file

---
# system modes example
---

actuation:
  ros__parameters:
    type: system
    parts:
      drive_base
      left/manipulator
      right/manipulator
    modes:
      __DEFAULT__:
        drive_base: active.__DEFAULT__
        left/manipulator: inactive.__DEFAULT__
        right/manipulator: inactive.__DEFAULT__
      LEFT:
        # drive_base: active.__DEFAULT__
        left/manipulator: active.__DEFAULT__
        right/manipulsator: inactive.__DEFAULT__
      RIGHT:
        # drive_base: active.__DEFAULT__
        left/manipulator: inactive.__DEFAULT__
        right/manipulator: active.__DEFAULT__


left/manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.1

drive_base:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_speed: 0.1
          controller: PID

right/manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.11

step to reproduce

zs@zs-vm-2204:~/zs_ws/ga_ros$ ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 1, label: configure}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=1, label='configure'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)

after this ,all nodes become OK

zs@zs-vm-2204:~/zs_ws/ga_ros$ ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)

after this , every thing OK

zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /actuation/change_mode system_modes_msgs/ChangeMode "{mode_name: 'LEFT'}"
waiting for service to become available...
requester: making request: system_modes_msgs.srv.ChangeMode_Request(mode_name='LEFT')

after this, the mode_manager died with a segfault.

EDIT: @ralph-lange

the step of reproduce is updated in 2022-11-12.