Cleanup deprecations

[christophfroehlich]

Needs ros-controls/ros2_controllers#1936 to be merged first

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.54%. Comparing base (6077af4) to head (c129b77).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2589      +/-   ##
==========================================
+ Coverage   89.45%   89.54%   +0.08%     
==========================================
  Files         148      148              
  Lines       16719    16693      -26     
  Branches     1406     1406              
==========================================
- Hits        14956    14947       -9     
+ Misses       1220     1202      -18     
- Partials      543      544       +1     

Flag	Coverage Δ
unittests	89.54% <100.00%> (+0.08%)	⬆️

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

Files with missing lines	Coverage Δ
...roller_interface/test/test_force_torque_sensor.cpp	100.00% <100.00%> (ø)
controller_interface/test/test_gps_sensor.cpp	100.00% <ø> (ø)
controller_interface/test/test_imu_sensor.cpp	100.00% <100.00%> (ø)
controller_interface/test/test_led_rgb_device.cpp	100.00% <100.00%> (ø)
controller_interface/test/test_pose_sensor.cpp	100.00% <100.00%> (ø)
...test/test_semantic_component_command_interface.cpp	100.00% <100.00%> (ø)
...terface/test/test_semantic_component_interface.cpp	100.00% <100.00%> (ø)
...re_interface/include/hardware_interface/handle.hpp	87.39% <ø> (ø)
.../include/hardware_interface/hardware_component.hpp	100.00% <ø> (ø)
...ardware_interface/hardware_component_interface.hpp	87.50% <100.00%> (-0.11%)	⬇️
... and 5 more

... and 1 file with indirect coverage changes

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[saikishor]

Overall looks good to me. Just few nitpicks

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?