Controller interface api update to ros2_controller packages

[Nandostream11]

Reviewed tests and deprecation warnings due to controller_interface update for the issue #1946
Modified the warning tests in the following packages;-

1. ackermann_steering_controller
2. admittance_controller
3. bicycle_steering_controller
4. chained_filter_controller
5. diff_drive_controller
6. effort_controllers
7. force_torque_sensor_broadcaster
8. forward_command_controller
9. gpio_controllers
10. gps_sensor_broadcaster
11. imu_sensor_broadcaster
12. joint_state_broadcaster
13. joint_trajectory_controller
14. mecanum_drive_controller
15. motion_primitives_controllers
16. omni_wheel_drive_controller
17. parallel_gripper_controller
18. pid_controller
19. pose_broadcaster
20. position_controllers
21. range_sensor_broadcaster
22. steering_controllers_library
23. tricycle_controller
24. tricycle_steering_controller
25. velocity_controllers

[christophfroehlich]

Thanks for your PR. But please consider our contributing guidelines, have you run colcon test and pre-commit locally? Almost all jobs fail here.

[Nandostream11]

I have done all the tests and fixed the issues. Please review once

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 85.02%. Comparing base (2cd0d47) to head (82ed8f5).
⚠️ Report is 3 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1973      +/-   ##
==========================================
- Coverage   85.11%   85.02%   -0.10%     
==========================================
  Files         143      143              
  Lines       13740    13553     -187     
  Branches     1201     1154      -47     
==========================================
- Hits        11695    11523     -172     
+ Misses       1638     1633       -5     
+ Partials      407      397      -10     

Flag	Coverage Δ
unittests	85.02% <100.00%> (-0.10%)	⬇️

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

Files with missing lines	Coverage Δ
...roller/test/test_ackermann_steering_controller.hpp	88.28% <100.00%> (+0.66%)	⬆️
...nce_controller/test/test_admittance_controller.hpp	95.05% <100.00%> (+0.16%)	⬆️
...ntroller/test/test_bicycle_steering_controller.hpp	85.71% <100.00%> (+1.00%)	⬆️
...ned_filter_controller/test/test_chained_filter.cpp	100.00% <100.00%> (ø)
...r_controller/test/test_multiple_chained_filter.cpp	100.00% <100.00%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	94.18% <100.00%> (+0.21%)	⬆️
...ollers/test/test_joint_group_effort_controller.cpp	98.21% <100.00%> (+0.21%)	⬆️
...ster/test/test_force_torque_sensor_broadcaster.cpp	98.50% <100.00%> (+0.04%)	⬆️
...ontroller/test/test_forward_command_controller.cpp	98.30% <100.00%> (+0.09%)	⬆️
...est_multi_interface_forward_command_controller.cpp	98.87% <100.00%> (+0.08%)	⬆️
... and 18 more

... and 3 files with indirect coverage changes

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[bmagyar]

Generally looks good to me but please try reducing the repeated stuff as per my comment.

[Nandostream11]

Generally looks good to me but please try reducing the repeated stuff as per my comment.

@bmagyar
I added the createDefaultParams(const rclcpp::NodeOptions & node_options, const std::string & robot_description = "");
in GpioCommandControllerTestSuite class in [gpio_controllers/test/test_gpio_command_controller.cpp] and refactored the earlier repetitions

[christophfroehlich]

Thanks for working on this. I agree with Bence, please apply the same pattern also for GPSSensorBroadcasterTest.

[christophfroehlich]

Thanks a lot!

[christophfroehlich]

Only nit-picking, let's rename the methods create_ctrl_params or something similar, as it allows also setting non-default parameters.

[Nandostream11]

That's right! apart from the robot_description, the method can be modified to take values for other arg-spaces in params as well. I'll do that for both gpio_controllers and gps_sensor_broadcaster (create_ctrl_params)