Use new handles API in ros2_controllers to fix deprecation warnings

[kumar-sanjeeev]

This PR applies the new API changes in the handles of ros2_control in following controllers in same fashion as #1565:

• ackermann_steering_controller
• bicycle_steering_controller
• admittance_controller
• effort_controllers
• forward_command_controller
• gpio_controllers
• gripper_controllers
• mecanum_drive_controller
• parallel_gripper_controller
• tricycle_controller
• pid_controller
• tricycle_steering_controller
• mecum_driver_contoller
• force_torque_sensor_broadcaster
• steering_controllers_library
• joint_state_broadcaster
• position_controllers
• joint_trajectory_controller (partial fixed)
• diff_drive_controller

[christophfroehlich]

Looks fine, thanks!

[kumar-sanjeeev]

Looks fine, thanks!

@christophfroehlich hi, one question - I have made progress on other controllers as well locally on my system. Can I push these changes into this PR as well (will update description), or should I wait for more reviews on current submitted PR ?

[christophfroehlich]

@saikishor ?

[saikishor]

The changes already look good to me. I just forgot to comment.
@kumar-sanjeeev yes, please proceed with other packages as well

[kumar-sanjeeev]

@saikishor and @christophfroehlich , one question, would you like me to complete all the controller packages first, and then you would review them of all together? Or would you prefer to first provide feedback on the commits that have already been pushed in this PR?

[christophfroehlich]

apply the changes to all of them please

[saikishor]

Yes please

[codecov]

Codecov Report

Attention: Patch coverage is 51.77305% with 136 lines in your changes missing coverage. Please review.

Project coverage is 85.66%. Comparing base (a10c564) to head (3635b67).

Files with missing lines	Patch %	Lines
...roller/parallel_gripper_action_controller_impl.hpp	6.06%	30 Missing and 1 partial ⚠️
...ory_controller/src/joint_trajectory_controller.cpp	51.66%	20 Missing and 9 partials ⚠️
...llers_library/src/steering_controllers_library.cpp	40.54%	16 Missing and 6 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	33.33%	12 Missing and 2 partials ⚠️
tricycle_controller/src/tricycle_controller.cpp	28.57%	6 Missing and 4 partials ⚠️
pid_controller/src/pid_controller.cpp	44.44%	3 Missing and 2 partials ⚠️
gpio_controllers/src/gpio_command_controller.cpp	50.00%	2 Missing and 2 partials ⚠️
..._controllers/src/joint_group_effort_controller.cpp	0.00%	2 Missing and 1 partial ⚠️
...ommand_controller/src/forward_controllers_base.cpp	25.00%	2 Missing and 1 partial ⚠️
...ontrollers/src/joint_group_velocity_controller.cpp	0.00%	2 Missing and 1 partial ⚠️
... and 6 more

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1566      +/-   ##
==========================================
- Coverage   86.44%   85.66%   -0.78%     
==========================================
  Files         123      123              
  Lines       12259    12407     +148     
  Branches     1023     1055      +32     
==========================================
+ Hits        10597    10629      +32     
- Misses       1344     1430      +86     
- Partials      318      348      +30     

Flag	Coverage Δ
unittests	85.66% <51.77%> (-0.78%)	⬇️

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.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...ollers/test/test_joint_group_effort_controller.cpp	98.43% <ø> (ø)
...ster/test/test_force_torque_sensor_broadcaster.cpp	98.15% <ø> (ø)
...ontroller/test/test_forward_command_controller.cpp	98.65% <ø> (ø)
...est_multi_interface_forward_command_controller.cpp	99.13% <ø> (ø)
..._controllers/test/test_gpio_command_controller.cpp	99.00% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
pid_controller/test/test_pid_controller.cpp	100.00% <100.00%> (ø)
...roller/test/test_pid_controller_dual_interface.cpp	100.00% <ø> (ø)
... and 21 more

... and 1 file with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[kumar-sanjeeev]

@christophfroehlich hello, I have tried to resolve all pending comments except the one mentioned in parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp by @saikishor. I am not sure how to approach that one yet.

I have also rechecked all controllers for any get_value() and set_value() deprecation warnings - all of them should be covered (hopefully 🙂).

please let me know if I have missed or overlooked anything.

[christophfroehlich]

Thanks again! Some minor cleanups only, rest looks great!
let's see if @saikishor can specify what he meant with the parallel_gripper controller.

[kumar-sanjeeev]

Thanks again! Some minor cleanups only, rest looks great! let's see if @saikishor can specify what he meant with the parallel_gripper controller.

Thanks for quick review :) , implemented your suggestions.

[saikishor]

@kumar-sanjeeev Great work, just some nitpicks and some critical things but rest looks great