Creat smh file for system_modes

[Rezenders]

Example smh file: https://github.com/MROS-RobMoSys-ITP/Pilot-URJC/blob/master/pilot_urjc_bringup/params/pilot_modes.yaml

Example launchfile:

shm_model_path = (get_package_share_directory('pilot_urjc_bringup') +
        '/params/pilot_modes.yaml')

    # Start as a normal node is currently not possible.
    # Path to SHM file should be passed as a ROS parameter.
    mode_manager_node = Node(
        package='system_modes',
        executable='mode_manager',
        parameters=[{'modelfile': shm_model_path}],
        output='screen')

Function design names should be the same as modes

[Rezenders]

Done