title: "ROS 2 System Modes package released"

We just released the **[ROS 2 system modes package](https://github.com/microROS/system_modes)** that implements our attempt to allow behavioral system composition for ROS 2. *System modes* assume that the system is built from components with a lifecycle (see [ROS 2 managed nodes](https://index.ros.org/doc/ros2/Tutorials/Managed-Nodes/)). It adds a notion of **(sub-)systems**, hierarchically grouping these nodes, as well as a notion of **modes** that determine the configuration of these nodes and (sub-)systems in terms of their parameter values.