Working with non-lifecycle nodes

When the system definition (SMH) contains non-lifecycle nodes, inference will most probably fail, because nodes woll not report any (of the specified) states / transitions used by the inference.

Two options are:

1. Introduce DONT-CARE in the SMH specification for states or
2. (more convenient and flexible), let the mode manager / inference check for all nodes whether they are lifecycle nodes or states/transitions need to be ignored. Check can be done with the [get_service_names_and_types_by_node()](https://docs.ros2.org/foxy/api/rclcpp/classrclcpp_1_1Node.html#aa3df8a7d8b174f8049dfd2766f4b2eb9) method.

When working, a launch test with a system consisting of i) rclcpp nodes, ii) rclcpp lifecycle nodes, rcl nodes, and iv) rclpy nodes would be great.

Comece examinando o gerenciador de modos e os caminhos de inferência que lidam com os estados e as transições dos nós de ciclo de vida e, em seguida, revise a API get_service_names_and_types_by_node() referenciada. A issue propõe estados DONT-CARE ou ignorar nós que não sejam de ciclo de vida; a implementação concluída deve incluir suporte a nós mistos de rclcpp, lifecycle, rcl e rclpy em um teste de launch.

Escrita pelo modelo de indexação a partir do texto da issue.