Model and apply Metacontrol to the system

[Rezenders]

First task is to decide which adaptations we are going to apply. After that, we need to model it with metacontrol and actually apply it.

[Rezenders]

System modes:

• https://github.com/micro-ROS/system_modes
• system modes config file for the pilot example: https://github.com/MROS-RobMoSys-ITP/Pilot-URJC/blob/master/metacontroller_pilot/modes_conf/pilot_modes.yaml

[Rezenders]

lifecyclenodes:

• https://github.com/ros2/demos/blob/humble/lifecycle/README.rst
• https://design.ros2.org/articles/node_lifecycle.html

[jeroenzwan]

More information on the system_modes: https://github.com/micro-ROS/system_modes/blob/master/system_modes/README.md#how-to-apply

[EGAlberts]

https://github.com/MROS-RobMoSys-ITP/mros_navigation2/tree/master/nav2_bt_navigator/behavior_trees

[jeroenzwan]

Mode Change server is declared here: https://github.com/MROS-RobMoSys-ITP/Pilot-URJC/blob/master/metacontroller_pilot/metacontroller_pilot/simple_mode_manager.py

[Rezenders]

The correct system_modes file is this one: https://github.com/MROS-RobMoSys-ITP/Pilot-URJC/blob/master/pilot_urjc_bringup/params/pilot_modes.yaml

[Rezenders]

Modeling is done, we just need to round up the details to apply it.

[Rezenders]

I am closing this issue, as we are now able to apply the search adaptation, and switch between tasks. It is still missing to add thruster adaptation, but there are other issues for this point.