example_modes.yaml

# system modes example
---

actuation:
  ros__parameters:
    type: system
    parts:
      manipulator
      drive_base
    modes:
      __DEFAULT__:
        manipulator: inactive
        drive_base: active
      MODERATE:
        manipulator: active.WEAK
        drive_base: active.SLOW
      PERFORMANCE:
        manipulator: active.STRONG
        drive_base: active.FAST
    rules:
      degrade_from_MODERATE:
        if_target: active.MODERATE
        if_part: [manipulator, inactive]
        new_target: active.__DEFAULT__
      degrade_from_PERFORMANCE:
        if_target: active.PERFORMANCE
        if_part: [manipulator, inactive]
        new_target: active.__DEFAULT__
      inactive_from_MODERATE:
        if_target: active.MODERATE
        if_part: [drive_base, inactive]
        new_target: inactive
      inactive_from_PERFORMANCE:
        if_target: active.PERFORMANCE
        if_part: [drive_base, inactive]
        new_target: inactive
      # if system in __DEFAULT__, don't degrade, don't deactivate, but recover

manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.1
      WEAK:
        ros__parameters:
          max_torque: 0.1
      STRONG:
        ros__parameters:
          max_torque: 0.2

drive_base:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_speed: 0.1
          controller: PID
      SLOW:
        ros__parameters:
          max_speed: 0.2
          controller: PID
      FAST:
        ros__parameters:
          max_speed: 0.9
          controller: MPC