Working with non-lifecycle nodes

还没有人认领这个 Issue。

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.

首先检查处理生命周期节点状态和转换的模式管理器及推理路径，然后查看所引用的 get_service_names_and_types_by_node() API。该 issue 提议使用 DONT-CARE 状态，或忽略非生命周期节点；完成内容应包括在 launch 测试中支持混合使用 rclcpp、lifecycle、rcl 和 rclpy 节点。

由索引模型根据 Issue 内容生成。