[FEA] Allow configuring a subset of nodes in a certain mode.

还没有人认领这个 Issue。

Hi, first of all I want to say this is a great project to manage lifecycle nodes!

There'a a need to config the lifecycle state of only a subset of nodes in one mode, but config another subset of nodes in other modes.

Let's say, can the following config work? (Currently I don't need the extra parameter-based modes either)

#### SHM file

```yaml
# 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

```

EDIT, the step of reproduce has been updated @ralph-lange

#### step to reproduce

```sh
time ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 1, label: configure}}"
time ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
```

#### expected

the lefe manipulator should be in active

#### actual


从 issue 中的 system-modes YAML 配置开始，并使用针对 /actuation/change_state 的两个 ros2 service 调用复现该行为。跟踪部分模式映射如何应用于 lifecycle nodes。当某个模式只能配置其列出的节点子集，同时保留其他节点的适当状态，并且左侧 manipulator 在所提供的示例中达到 active 状态时，即可视为完成。

由索引模型根据 Issue 内容生成。