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.

首先檢查處理生命週期節點狀態和轉換的模式管理器及推論路徑，然後查看所參照的 get_service_names_and_types_by_node() API。該 issue 提議使用 DONT-CARE 狀態，或忽略非生命週期節點；完成內容應包括在 launch 測試中支援混合使用 rclcpp、lifecycle、rcl 和 rclpy 節點。

由索引模型根據 Issue 內容生成。