Add changes to cast the other data types to double

[saikishor]

Add a way to be able to cast the other data types to double when get_optional is called directly instead of throwing an exception. This makes things easier for using in multiple places

[codecov]

Codecov Report

Attention: Patch coverage is 54.54545% with 5 lines in your changes missing coverage. Please review.

Project coverage is 88.83%. Comparing base (abbf8d6) to head (dba2cd5).

Files with missing lines	Patch %	Lines
...re_interface/include/hardware_interface/handle.hpp	54.54%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2360      +/-   ##
==========================================
- Coverage   88.86%   88.83%   -0.04%     
==========================================
  Files         148      148              
  Lines       16893    16901       +8     
  Branches     1438     1438              
==========================================
+ Hits        15012    15014       +2     
- Misses       1317     1322       +5     
- Partials      564      565       +1     

Flag	Coverage Δ
unittests	88.83% <54.54%> (-0.04%)	⬇️

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

Files with missing lines	Coverage Δ
...rface/include/hardware_interface/hardware_info.hpp	81.48% <ø> (ø)
...de/hardware_interface/loaned_command_interface.hpp	52.50% <ø> (ø)
...lude/hardware_interface/loaned_state_interface.hpp	60.00% <ø> (ø)
hardware_interface/test/test_handle.cpp	98.48% <ø> (ø)
...re_interface/include/hardware_interface/handle.hpp	87.39% <54.54%> (-3.52%)	⬇️

... and 2 files with indirect coverage changes

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[bmagyar]

The motivation for this is to be backward compatible with dynamic joint states, yeah?
Here's an alternative route: what if we removed dynamic joint states as-is, or made it optional and created a new broadcaster with a new message that is able to fill the same role but without forcing everything to be double?

[saikishor]

The motivation for this is to be backward compatible with dynamic joint states, yeah?
Here's an alternative route: what if we removed dynamic joint states as-is, or made it optional and created a new broadcaster with a new message that is able to fill the same role but without forcing everything to be double?

Yess! Dynamic joint states has its downsides. We can discuss about this in today's PMC meeting. I'm in for making removing it and creating a new one