Error in node state when switching modes

Hello!

I've been working with system_modes for a few days and I'm having an error when changing my system mode.

I have several modes, which are default, alert, compromised and halt, and in this particular example when I change the mode from alert to compromised there are nodes that do not change their status from active to inactive. I leave you images of the monitor so that you can see the result together with the yaml configuration of both modes.

ALERT:
        image_1_to_2: inactive
        imu_1_to_2: active
        odom_1_to_2: active
        pc2_1_to_2: active
        scan_1_to_2: active
        tf_1_to_2: active
        tf_static_1_to_2: active
        twist_2_to_1: active
COMPROMISED:
        image_1_to_2: inactive
        imu_1_to_2: active
        odom_1_to_2: active
        pc2_1_to_2: inactive
        scan_1_to_2: inactive
        tf_1_to_2: active
        tf_static_1_to_2: active
        twist_2_to_1: inactive

System in alert mode:

System in compromised mode:

I also show you how I have configured the modes of some of the nodes, although I am not using that parameter

pc2_1_to_2:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          use_sim_time: false
      
scan_1_to_2:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          use_sim_time: false

I do not have any type of rule configured, although I suppose that for this simple case of changing node states it would not be necessary.

Any idea what is happening?

Der Bericht enthält keine Quelldatei und keinen Test; beginne mit dem ALERT- und COMPROMISED-YAML sowie den aufgeführten Screenshots des Node-Zustands und reproduziere dann den Übergang von alert zu compromised im beschriebenen ROS-2-Setup. Verfolge, warum pc2_1_to_2, scan_1_to_2 und twist_2_to_1 aktiv bleiben, und überprüfe, dass jeder Node den für COMPROMISED deklarierten Zustand erreicht.