Problem changing the system modes when there are rules

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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!!

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.

Rédigé par le modèle d'indexation à partir du texte de l'issue.