[Feature] Interfaces remapping for controllers

[saikishor]

This PR aims to add a new features to the controllers so that they will be able to remap interfaces, this would be interesting to have as for interfaces such as effort the hardware could expose more meaningful interfaces such as torque, force or current and it would get the logic of the controller more complicated if they need to support multiple type of interfaces. Instead the users should be able to remap as simply by defining the remapping definition under the controller's parameters

controller_joint2:
  ros__parameters:
    type: "controller_manager/test_controller_with_interfaces"
    joint_name: "joint2"
    remap:
      state_interfaces:
        "joint2/effort": "joint2/torque"
      command_interfaces:
        "joint2/effort": "joint2/torque"

The controller prints some more explicit log when configuring the controller, so that the user are clear on what interfaces are being remapped

1: [INFO] [1723486187.875195738] [test_controller_manager]: Configuring controller 'controller_joint3'
1: [WARN] [1723486187.875569719] [controller_joint3]: The controller : controller_joint3 will remap the following state interfaces:
1: [WARN] [1723486187.875584819] [controller_joint3]: 	'joint3/effort' to 'joint3/force'
1: [WARN] [1723486187.875615433] [controller_joint3]: The controller : controller_joint3 will remap the following command interfaces:
1: [WARN] [1723486187.875621793] [controller_joint3]: 	'joint3/effort' to 'joint3/force'

Related to ros-controls/roadmap#61

[codecov]

Codecov Report

Attention: Patch coverage is 95.38462% with 6 lines in your changes missing coverage. Please review.

Project coverage is 87.79%. Comparing base (d55def1) to head (836de9a).

Files with missing lines	Patch %	Lines
...roller_interface/src/controller_interface_base.cpp	87.80%	0 Missing and 5 partials ⚠️
controller_manager/src/controller_manager.cpp	95.23%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1667      +/-   ##
==========================================
+ Coverage   87.62%   87.79%   +0.16%     
==========================================
  Files         120      121       +1     
  Lines       12217    12327     +110     
  Branches     1093     1115      +22     
==========================================
+ Hits        10705    10822     +117     
+ Misses       1123     1109      -14     
- Partials      389      396       +7     

Flag	Coverage Δ
unittests	87.79% <95.38%> (+0.16%)	⬆️

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

Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	92.30% <ø> (ø)
...ger/include/controller_manager/controller_spec.hpp	100.00% <100.00%> (ø)
...ller_manager/test/test_controller_manager_srvs.cpp	99.26% <100.00%> (ø)
...ith_interfaces/test_controller_with_interfaces.cpp	100.00% <100.00%> (+20.00%)	⬆️
...ith_interfaces/test_controller_with_interfaces.hpp	100.00% <100.00%> (ø)
...ler_manager/test/test_hardware_management_srvs.cpp	98.56% <ø> (ø)
...ontroller_manager/test/test_release_interfaces.cpp	92.30% <100.00%> (+4.80%)	⬆️
...ace_testing/test/test_components/test_actuator.cpp	92.85% <100.00%> (+1.19%)	⬆️
...e_interface_testing/test/test_resource_manager.cpp	99.32% <ø> (ø)
controller_manager/src/controller_manager.cpp	78.21% <95.23%> (+0.04%)	⬆️
... and 1 more

... and 6 files with indirect coverage changes

[mergify]

This pull request is in conflict. Could you fix it @saikishor?

[mergify]

This pull request is in conflict. Could you fix it @saikishor?

[mergify]

This pull request is in conflict. Could you fix it @saikishor?