add spawner for hardware (#941)

* add spwaner for hardware

* aplly suggestions from code review

* move comment

(cherry picked from commit 937817c)

# Conflicts:
#	controller_manager/src/controller_manager.cpp

Author: mamueluth

controller_manager/src/controller_manager.cpp

@@ -406,6 +406,7 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   // inactive (configured)
   // BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
   std::vector<std::string> configure_components_on_start = std::vector<std::string>({});
+<<<<<<< HEAD
   get_parameter("configure_components_on_start", configure_components_on_start);
   if (!configure_components_on_start.empty())
   {
@@ -427,10 +428,25 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
       "hardware_components_initial_state.inactive",
       rclcpp_lifecycle::State(
         State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
+=======
+  if (get_parameter("configure_components_on_start", configure_components_on_start))
+  {
+    RCLCPP_WARN_STREAM(
+      get_logger(),
+      "[Deprecated]: Usage of parameter \"activate_components_on_start\" is deprecated. Use "
+      "hardware_spawner instead.");
+    rclcpp_lifecycle::State inactive_state(
+      State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE);
+    for (const auto & component : configure_components_on_start)
+    {
+      resource_manager_->set_component_state(component, inactive_state);
+    }
+>>>>>>> 937817c (add spawner for hardware (#941))
   }
 
   // BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
   std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
+<<<<<<< HEAD
   get_parameter("activate_components_on_start", activate_components_on_start);
   rclcpp_lifecycle::State active_state(
     State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
@@ -441,13 +457,22 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
       "Parameter 'activate_components_on_start' is deprecated. "
       "Components are activated per default. Don't use this parameters in combination with the new "
       "'hardware_components_initial_state' parameter structure.");
+=======
+  if (get_parameter("activate_components_on_start", activate_components_on_start))
+  {
+    RCLCPP_WARN_STREAM(
+      get_logger(),
+      "[Deprecated]: Usage of parameter \"activate_components_on_start\" is deprecated. Use "
+      "hardware_spawner instead.");
+>>>>>>> 937817c (add spawner for hardware (#941))
     rclcpp_lifecycle::State active_state(
       State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
     for (const auto & component : activate_components_on_start)
     {
       resource_manager_->set_component_state(component, active_state);
     }
   }
+<<<<<<< HEAD
   // END: Keep old functionality on humble for backwards compatibility (Remove at the end of 2023)
   else
   {
@@ -458,6 +483,17 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
         State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
       resource_manager_->set_component_state(component, active_state);
     }
+=======
+  // if both parameter are empty or non-existing preserve behavior where all components are
+  // activated per default
+  if (configure_components_on_start.empty() && activate_components_on_start.empty())
+  {
+    RCLCPP_WARN_STREAM(
+      get_logger(),
+      "[Deprecated]: Automatic activation of all hardware components will not be supported in the "
+      "future anymore. Use hardware_spawner instead.");
+    resource_manager_->activate_all_components();
+>>>>>>> 937817c (add spawner for hardware (#941))
   }
 }