Add controller manager introspection topic system

[christophfroehlich]

This is useful to replay bags and inject state interfaces from a hardware component into the ros2_control stack.

I'm open for any name suggestions ;)

[codecov-commenter]

Codecov Report

❌ Patch coverage is 85.47009% with 17 lines in your changes missing coverage. Please review.
✅ Project coverage is 68.85%. Comparing base (cd86811) to head (286b51f).

Files with missing lines	Patch %	Lines
...omponent/test/cm_topic_hardware_component_test.cpp	87.35%	9 Missing and 2 partials ⚠️
...ware_component/src/cm_topic_hardware_component.cpp	80.00%	2 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #33      +/-   ##
==========================================
+ Coverage   61.44%   68.85%   +7.40%     
==========================================
  Files           3        5       +2     
  Lines         249      366     +117     
  Branches       42       52      +10     
==========================================
+ Hits          153      252      +99     
- Misses         75       86      +11     
- Partials       21       28       +7     

Flag	Coverage Δ
unittests	68.85% <85.47%> (+7.40%)	⬆️

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

Files with missing lines	Coverage Δ
...ware_component/src/cm_topic_hardware_component.cpp	80.00% <80.00%> (ø)
...omponent/test/cm_topic_hardware_component_test.cpp	87.35% <87.35%> (ø)

... and 1 file with indirect coverage changes

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[MarqRazz]

Should we add a warning if nothing is publishing on the configured topics? That or add a throttled print when // no data received yet in read().

[christophfroehlich]

in my case it was obvious because no joint_states/tf was published then. But sure, a throttled warning does not hurt

[christophfroehlich]

Fixed with b2ff118

[MarqRazz]

What do you think about adding a test that publishes on the topics this system is listening to and verifying the state matches?

[christophfroehlich]

would be great :D

[MarqRazz]

Awesome! Maybe have some data in there that is should nicely ignore 😄.

        if (joint_state_interfaces_.find(name) != joint_state_interfaces_.end() ||
            sensor_state_interfaces_.find(name) != sensor_state_interfaces_.end() ||
            gpio_state_interfaces_.find(name) != gpio_state_interfaces_.end() ||
            unlisted_state_interfaces_.find(name) != unlisted_state_interfaces_.end())

[christophfroehlich]

Added some tests with 002ec8a