Async Hardware Components

[saikishor]

Needs : ros-controls/realtime_tools#168

Fixes: #1954

This is to move towards the new async handling approach that we have done in a different PR also for the controllers.

[mergify]

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

[saikishor]

Resolved conflicts!

[mergify]

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

[mergify]

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

[codecov]

Codecov Report

Attention: Patch coverage is 93.29897% with 13 lines in your changes missing coverage. Please review.

Project coverage is 88.13%. Comparing base (7374c43) to head (56d9cc3).

Files with missing lines	Patch %	Lines
.../include/hardware_interface/actuator_interface.hpp	85.71%	3 Missing and 2 partials ⚠️
...ce/include/hardware_interface/system_interface.hpp	85.71%	3 Missing and 2 partials ⚠️
hardware_interface/src/resource_manager.cpp	66.66%	2 Missing ⚠️
hardware_interface/src/component_parser.cpp	91.66%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1567      +/-   ##
==========================================
+ Coverage   87.73%   88.13%   +0.40%     
==========================================
  Files         122      121       -1     
  Lines       13010    13120     +110     
  Branches     1165     1177      +12     
==========================================
+ Hits        11414    11563     +149     
+ Misses       1165     1124      -41     
- Partials      431      433       +2     

Flag	Coverage Δ
unittests	88.13% <93.29%> (+0.40%)	⬆️

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

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	100.00% <ø> (ø)
controller_manager/src/controller_manager.cpp	76.08% <ø> (-0.31%)	⬇️
controller_manager/src/ros2_control_node.cpp	66.03% <ø> (-0.63%)	⬇️
...rface/include/hardware_interface/hardware_info.hpp	100.00% <ø> (ø)
...ce/include/hardware_interface/sensor_interface.hpp	95.38% <100.00%> (+1.38%)	⬆️
hardware_interface/src/actuator.cpp	80.66% <100.00%> (ø)
hardware_interface/src/sensor.cpp	76.03% <100.00%> (ø)
hardware_interface/src/system.cpp	80.66% <100.00%> (ø)
hardware_interface/test/test_component_parser.cpp	98.93% <100.00%> (+0.03%)	⬆️
...e_interface_testing/test/test_resource_manager.cpp	99.46% <100.00%> (+0.06%)	⬆️
... and 4 more

... and 2 files with indirect coverage changes

[mergify]

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

[christophfroehlich]

Am I overseeing it, or is there some documentation missing? ;)
The parameters
<ros2_control name="TestActuatorHardware" type="actuator" is_async="true" thread_priority="30">
should be documented somewhere, and release notes would be great, too.

[bmagyar]

thank you!

[bmagyar]

@christophfroehlich the extra docs will go into a new PR