Bug report

Required Info:

• Operating System: Ubuntu 24.04
• ROS2 Version: Jazzy
• Version or commit hash: main
• DDS implementation: CycloneDDS

Steps to reproduce issue

- Have a planner that will fail on configure(wrong config, params etc.).
- Call lifecycle transition to configure for planner server. It will fail since planner will fail.
- Call lifecycle transition to configure again.

Expected behavior

• The transition should succeed if you fixed the issue(config etc.) or transition should fail again.

Actual behavior

• Planner server crashes with what(): Node '/global_costmap/global_costmap' has already been added to an executor.

Additional information

• I think the issue is valid also for controller server.
• https://github.com/ros-navigation/navigation2/blob/jazzy/nav2_planner/src/planner_server.cpp#L85 Here we call configure on costmap which adds it to executor, so even if transition fails it is still in configured state.
• So I think either costmap should return early if it is already in configured state or planner server should unconfigure(deactivate?) here https://github.com/ros-navigation/navigation2/blob/jazzy/nav2_planner/src/planner_server.cpp#L122