Ability to switch controllers in non-realtime loop

[saikishor]

Hello!

This PR implements a way to switch controllers (activation or deactivation) in the non-RT loop, this is the default behavior of ros_control, and I have observed that activating some broadcasters and some controllers is causing some overruns in our system and this should bride the gap as well work without any issues. I've also added an option to switch between the behaviors.

I could find it, thanks to the changes from #2449

TIAGo Pro running at 1 kHz

With the realtime switching on (The results are in microseconds)

WIth the non-realtime switching

TALOS Running at 2 kHz

With the realtime switching on (The results are in microseconds)

WIth the non-realtime switching

[codecov]

Codecov Report

❌ Patch coverage is 95.83333% with 11 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.28%. Comparing base (e433836) to head (1c5ced4).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	91.26%	9 Missing ⚠️
...er_manager/test/controller_manager_test_common.hpp	95.23%	0 Missing and 1 partial ⚠️
...ller_manager/test/test_controller_manager_srvs.cpp	99.20%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2452      +/-   ##
==========================================
+ Coverage   89.21%   89.28%   +0.06%     
==========================================
  Files         144      144              
  Lines       16334    16499     +165     
  Branches     1393     1394       +1     
==========================================
+ Hits        14573    14731     +158     
- Misses       1225     1228       +3     
- Partials      536      540       +4     

Flag	Coverage Δ
unittests	89.28% <95.83%> (+0.06%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
controller_manager/controller_manager/spawner.py	71.15% <100.00%> (+0.37%)	⬆️
.../include/controller_manager/controller_manager.hpp	97.36% <100.00%> (+0.49%)	⬆️
...r_manager/test/test_controller/test_controller.cpp	87.01% <100.00%> (+0.71%)	⬆️
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
...e_interface/include/hardware_interface/helpers.hpp	96.55% <100.00%> (ø)
...er_manager/test/controller_manager_test_common.hpp	89.18% <95.23%> (-0.65%)	⬇️
...ller_manager/test/test_controller_manager_srvs.cpp	99.31% <99.20%> (-0.02%)	⬇️
controller_manager/src/controller_manager.cpp	74.50% <91.26%> (+0.07%)	⬆️

... and 1 file with indirect coverage changes

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[christophfroehlich]

this means that you change the default behavior, right?

[saikishor]

Yes, for the rolling that's the idea. In ros_control that's the default behavior. I'm also fine to change it back to true.

[saikishor]

If you activate-as-group a large number of controllers, you will definitely see a difference that's why I set it as False by default

[christophfroehlich]

ok, so let's add this explicitly in the release notes (and migration notes maybe?)

[saikishor]

Sure thing 🫡