Modes observer

[norro]

Introduces a modes observer class that

• can be configured to monitor an arbitrary number of nodes and systems for their states and modes. To do so it
  • initially queries the getState and getMode services of monitored entities
  • after that continuously monitors ../transition_event and ../mode_event topics of monitored entities
• caches the states+modes of monitored entities locally for fast local access

The mode observer is supposed to be instantiated by+inside a ROS 2 node.

https://github.com/micro-ROS/system_modes/issues/66

[codecov[bot]]

Codecov Report

Merging #68 (7e94b56) into master (8ef3b27) will decrease coverage by 0.15%. The diff coverage is 18.86%.

:exclamation: Current head 7e94b56 differs from pull request most recent head c298443. Consider uploading reports for the commit c298443 to get more accurate results

@@            Coverage Diff             @@
##           master      #68      +/-   ##
==========================================
- Coverage   27.63%   27.48%   -0.16%     
==========================================
  Files          12       14       +2     
  Lines         995     1048      +53     
  Branches      714      754      +40     
==========================================
+ Hits          275      288      +13     
+ Misses        275      272       -3     
- Partials      445      488      +43     

Impacted Files	Coverage Δ
system_modes/src/system_modes/mode_observer.cpp	14.00% <14.00%> (ø)
system_modes/include/system_modes/mode_impl.hpp	81.48% <100.00%> (+1.48%)	:arrow_up:
...ystem_modes/include/system_modes/mode_observer.hpp	100.00% <100.00%> (ø)
system_modes/src/system_modes/mode_manager.cpp	16.54% <0.00%> (ø)
system_modes/src/system_modes/mode_monitor.cpp	0.79% <0.00%> (ø)
system_modes/src/system_modes/mode_inference.cpp	35.69% <0.00%> (+0.81%)	:arrow_up:

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