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Your description reminds me of what the system_modes package created by Bosch was created for.

It essentially almost recursively applies the lifecycle management concept and allows you to configure the mode of a system (your states) through a relatively high-level interface, controlling all required nodes and their individual life-cycles for you.

See the system_modes_examples package for a nice example of how this all works and what it can do.

An alternative could be using behaviour trees, but those would not have support for the domain concepts directly (but would be capable of managing this sort of thing).

Your description reminds me of what the system_modes package created by Bosch was created for.

It essentially almost recursively applies the lifecycle management concept and allows you to configure the mode of a system (your states) through a relatively high-level interface, controlling all required nodes and their individual life-cycles for you.

See the system_modes_examples package for a nice example of how this all works and what it can do.

An alternative could be using behaviour trees, but those would not have support for the domain concepts directly (but would be capable of managing this sort of thing).