Shift to Struct based Method and Constructors, with Executor passed from CM to on_init()

[soham2560]

Brief

This addition is the first step towards solving #2141 (also #1732 in some way).
The concept is simple, we are creating a Struct pathway of sorts all the way from the CM to the on_init() call in the hardware component. This enables future additions without too harsh API/ABI breaks.

An example to show this currently is to give the user access to the MultiThreadedExecutor so that they can add nodes to it and publish if necessary by propogating the executor_ from CM all the way to on_init() (refer ab8d08c). A future PR will add a node by default with the hardware_components name

Three Structs have been added to help in the above

• HardwareComponentInterfaceParams
  • To be passed in on_init() and parsed by user to get all relevant data (hardware_info and executor at this point)
• HardwareComponentParams
  • To be used for all other initialisation, loading calls up till resource manager
• ResourceManagerParams
  • To construct Resource Manager

Important Note

This means over time we will have to deprecate and remove the non struct based methods

Side Notes

• This does mean we have to update the ros2_control_demos with the updated API
• It is expected the user will lock and use the executor as needed
• documentation is yet to be added, in particular about notifying the user to not abuse the executor (since they can use the cancel() call internally and cripple the services etc for the CM basically )

[codecov]

Codecov Report

Attention: Patch coverage is 83.33333% with 23 lines in your changes missing coverage. Please review.

Project coverage is 88.99%. Comparing base (4d3362d) to head (c31cfac).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	79.45%	11 Missing and 4 partials ⚠️
controller_manager/src/controller_manager.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2323      +/-   ##
==========================================
+ Coverage   88.96%   88.99%   +0.03%     
==========================================
  Files         144      147       +3     
  Lines       16634    16707      +73     
  Branches     1436     1433       -3     
==========================================
+ Hits        14799    14869      +70     
- Misses       1277     1283       +6     
+ Partials      558      555       -3     

Flag	Coverage Δ
unittests	88.99% <83.33%> (+0.03%)	⬆️

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

Files with missing lines	Coverage Δ
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
.../include/hardware_interface/actuator_interface.hpp	91.30% <100.00%> (+0.34%)	⬆️
...re_interface/include/hardware_interface/sensor.hpp	100.00% <ø> (ø)
...ce/include/hardware_interface/sensor_interface.hpp	85.98% <100.00%> (+0.98%)	⬆️
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
...ce/include/hardware_interface/system_interface.hpp	84.80% <100.00%> (+0.53%)	⬆️
...face/types/hardware_component_interface_params.hpp	100.00% <100.00%> (ø)
...ware_interface/types/hardware_component_params.hpp	100.00% <100.00%> (ø)
...rdware_interface/types/resource_manager_params.hpp	100.00% <100.00%> (ø)
hardware_interface/src/actuator.cpp	80.61% <100.00%> (+0.61%)	⬆️
... and 4 more

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[saikishor]

A partial review here

I think as this is an API breaking change, we should open the corresponding PRs in the packages like gz_ros2_control and also webots_ros2_control probably? We can discuss this part when we finish the final review of this PR

[soham2560]

we should open the corresponding PRs in the packages like gz_ros2_control

@saikishor have added PR at ros-controls/gz_ros2_control#606

[saikishor]

we should open the corresponding PRs in the packages like gz_ros2_control

@saikishor have added PR at ros-controls/gz_ros2_control#606

Awesome. Sorry I missed that one

[bmagyar]

Good renamings!

[saikishor]

Partial review

[saikishor]

Overall looks spot on! Just some nitpicks

Very very good job. Based on how it looks, we can even backport this to Jazzy, as there is no break of API.

[saikishor]

LGTM

[bmagyar]

thank you!