Cannot reproduce recovery from laser failure

[chcorbato]

Following the instructions in https://github.com/MROS-RobMoSys-ITP/MROS-Hands-On
When I click on "Inject all-zero..." navigation stop and the robot tfs fade from RViz, but nothing changes in the output of the reasoner and I get the following in the simulation terminal:

[gzserver-1] [INFO] [1606145891.763695294] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1606145891.763779137] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[pointcloud_to_laserscan_managed-5] [INFO] [1606145896.717860733] [pointcloud_to_laser]: Got a subscriber to laserscan, starting pointcloud subscriber
[mode_manager-3] [INFO] [1606145900.464317275] [__mode_manager]: -> callback change_mode of pilot to f_normal_mode
[mode_manager-3] [INFO] [1606145900.464866588] [__mode_manager]:  changing mode of pilot to f_normal_mode
[mode_manager-3] [INFO] [1606145900.465391325] [__mode_manager]:  changing state of amcl: activate
[mode_manager-3] [INFO] [1606145900.465806263] [__mode_manager]:  changing mode of amcl to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.470300998] [__mode_manager]:  changing state of bt_navigator: activate
[mode_manager-3] [INFO] [1606145900.476348392] [__mode_manager]:  changing mode of bt_navigator to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.477779093] [__mode_manager]:  changing state of controller_server: activate
[mode_manager-3] [INFO] [1606145900.478400889] [__mode_manager]:  changing mode of controller_server to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.478962330] [__mode_manager]:  changing state of laser_resender: activate
[mode_manager-3] [INFO] [1606145900.479749291] [__mode_manager]:  changing mode of laser_resender to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.480375736] [__mode_manager]:  changing state of pointcloud_to_laser: deactivate
[mode_manager-3] [WARN] [1606145900.485560055] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.486201452] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.486693798] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[pointcloud_to_laserscan_managed-5] [WARN] [1606145900.487845229] [rcl_lifecycle]: No transition matching deactivate found for current state inactive
[laser_resender_node-6] [INFO] [1606145900.488716101] [laser_resender]: [laser_resender] Activating from [inactive] state...
[mode_manager-3] [WARN] [1606145900.491606757] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.492819800] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.494656788] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.495664651] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
...

I am using:
mc_mros_reasoner: foxy_devel
Pilot-URJC: metacontrol-test-integration

[chcorbato]

(related to meta-control/mc_mros_reasoner#115 @marioney @jginesclavero )
I have checked and the laser failure is published in the diagnosis:

...
---
header:
  stamp:
    sec: 1606166599
    nanosec: 501741194
  frame_id: ''
status:
- level: "\x02"
  name: ''
  message: Component status
  hardware_id: ''
  values:
  - key: laser_resender
    value: 'False'
---
...

This is the output in the simulation terminal that shows that the mode manager has detected the problem:

[laser_resender_node-6] [WARN] [1606166599.500045610] [laser_resender]: [laser_resender] ALL-ZEROS. It has to go to error processing state
[laser_resender_node-6] [WARN] [1606166599.500114703] []: Error occurred while doing error handling.
[laser_resender_node-6] [ERROR] [1606166599.500123208] [laser_resender]: [laser_resender] Error processing from [active] state...
[mode_manager-3] [WARN] [1606166599.500895258] [__mode_manager]: Deviation detected in system or part 'laser_resender': should be active.__DEFAULT__, but is errorprocessing.
[mode_manager-3] [WARN] [1606166599.500990528] [__mode_manager]: Deviation detected in system or part 'pilot': should be active.f_normal_mode, but is errorprocessing.
[modes_observer_node-4] [WARN] [1606166599.501670487] [modes_observer_node]: Error processing:: Component laser_resender Goal state: unconfigured 
[modes_observer_node-4] [WARN] [1606166599.501709927] [modes_observer_node]: Sending diagnostic message
[mode_manager-3] [WARN] [1606166599.510631089] [__mode_manager]: Deviation detected in system or part 'laser_resender': should be active.__DEFAULT__, but is unconfigured.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

However, in the reasoner output there is no trace of receiving that diagnostics.

[jginesclavero]

Let me check and I will try to fixed it asap.