Add Mecanum Drive Controller (backport #512, #1444, #1547)

[mergify]

Depends on ros-controls/control_msgs#79

---

This is an automatic backport of pull request #512 done by Mergify.

[soham2560]

are there any estimates on when this might be done?

or on how much work there is, I can try to pick it up if I get the time and if no-one else is working on it

[bmagyar]

@soham2560 yes please! Create PR(s) targeting this backport branch please.

There were a few API changes in controller interface between humble and Jazzy. Those definitely need fixing for the build to pass.

[christophfroehlich]

you can always compile the rolling version of the ros2_control stack on humble, see "development version" on https://control.ros.org/humble/doc/getting_started/getting_started.html#building-from-source

[soham2560]

@bmagyar can you have a look at this?

[codecov]

Codecov Report

Attention: Patch coverage is 68.09584% with 253 lines in your changes missing coverage. Please review.

Project coverage is 67.03%. Comparing base (5de2dfa) to head (d7c7fbb).
Report is 3 commits behind head on humble.

Files with missing lines	Patch %	Lines
..._controller/test/test_mecanum_drive_controller.cpp	48.35%	0 Missing and 157 partials ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	84.81%	30 Missing and 11 partials ⚠️
.../test/test_mecanum_drive_controller_preceeding.cpp	42.55%	0 Missing and 27 partials ⚠️
..._controller/test/test_mecanum_drive_controller.hpp	80.41%	9 Missing and 10 partials ⚠️
mecanum_drive_controller/src/odometry.cpp	86.53%	6 Missing and 1 partial ⚠️
...roller/test/test_load_mecanum_drive_controller.cpp	87.50%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1376      +/-   ##
==========================================
+ Coverage   66.93%   67.03%   +0.09%     
==========================================
  Files         115      122       +7     
  Lines       13575    14368     +793     
  Branches     8402     8877     +475     
==========================================
+ Hits         9087     9632     +545     
- Misses       1423     1460      +37     
- Partials     3065     3276     +211     

Flag	Coverage Δ
unittests	67.03% <68.09%> (+0.09%)	⬆️

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

Files with missing lines	Coverage Δ
...ller/include/mecanum_drive_controller/odometry.hpp	100.00% <100.00%> (ø)
...roller/test/test_load_mecanum_drive_controller.cpp	87.50% <87.50%> (ø)
mecanum_drive_controller/src/odometry.cpp	86.53% <86.53%> (ø)
..._controller/test/test_mecanum_drive_controller.hpp	80.41% <80.41%> (ø)
.../test/test_mecanum_drive_controller_preceeding.cpp	42.55% <42.55%> (ø)
..._drive_controller/src/mecanum_drive_controller.cpp	84.81% <84.81%> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	48.35% <48.35%> (ø)

... and 3 files with indirect coverage changes

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