I set the autostart of the lifecycle_manager to false; then, there is no managed node running automatically.
lifecycle_nodes = ['map_server', 'amcl', 'controller_server', 'planner_server','bt_navigator', 'waypoint_follower'] run_lifecycle_manager_cmd = Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_localization', output='screen', parameters=[{'use_sim_time': use_sim_time}, {'autostart': False}, {'node_names': lifecycle_nodes}]) ld.add_action(run_lifecycle_manager_cmd)
Then I active the navigation 2 panel on RVIZ2, and the RVIZ starts to complain. No button on this panel is activated.