rclcpp 0.4.0 changes

[parthc-rob]

Changed object references to reflect rclcpp changes in v0.4.0, i.e. branch ardent.
Build fails with

[ 83%] Linking CXX executable test_controller_manager
/usr/bin/ld: warning: libconsole_bridge.so.0.2, needed by libcontroller_manager.so, may conflict with libconsole_bridge.so.0.4
CMakeFiles/test_load_controller.dir/test/test_load_controller.cpp.o: In function `TestControllerManager_load_known_controller_Test::TestBody()':
test_load_controller.cpp:(.text+0xc96): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0xcad): undefined reference to `rclcpp_lifecycle::LifecycleNode::configure()'
test_load_controller.cpp:(.text+0xcd1): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0xce8): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_load_controller.cpp:(.text+0xcf0): undefined reference to `rclcpp_lifecycle::State::id() const'
CMakeFiles/test_load_controller.dir/test/test_load_controller.cpp.o: In function `TestControllerManager_load2_known_controller_Test::TestBody()':
test_load_controller.cpp:(.text+0x1434): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x144b): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_name() const'
test_load_controller.cpp:(.text+0x154a): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x1561): undefined reference to `rclcpp_lifecycle::LifecycleNode::configure()'
test_load_controller.cpp:(.text+0x1594): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x15ab): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_load_controller.cpp:(.text+0x15b3): undefined reference to `rclcpp_lifecycle::State::id() const'
test_load_controller.cpp:(.text+0x1918): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x192f): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_name() const'
test_load_controller.cpp:(.text+0x1a2e): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x1a45): undefined reference to `rclcpp_lifecycle::LifecycleNode::configure()'
test_load_controller.cpp:(.text+0x1a78): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x1a8f): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_load_controller.cpp:(.text+0x1a97): undefined reference to `rclcpp_lifecycle::State::id() const'
CMakeFiles/test_load_controller.dir/test/test_load_controller.cpp.o: In function `TestControllerManager_update_Test::TestBody()':
test_load_controller.cpp:(.text+0x22e4): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x22fb): undefined reference to `rclcpp_lifecycle::LifecycleNode::configure()'
test_load_controller.cpp:(.text+0x231f): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_load_controller.cpp:(.text+0x2336): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_load_controller.cpp:(.text+0x233e): undefined reference to `rclcpp_lifecycle::State::id() const'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::deactivate()'
libcontroller_manager.so: undefined reference to `typeinfo for controller_interface::ControllerInterface'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::State::~State()'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::State::State(rclcpp_lifecycle::State const&)'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::get_node_base_interface()'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::cleanup()'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::activate()'
collect2: error: ld returned 1 exit status
CMakeFiles/test_load_controller.dir/build.make:194: recipe for target 'test_load_controller' failed
make[2]: *** [test_load_controller] Error 1
CMakeFiles/Makefile2:677: recipe for target 'CMakeFiles/test_load_controller.dir/all' failed
make[1]: *** [CMakeFiles/test_load_controller.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: warning: libconsole_bridge.so.0.2, needed by libtest_controller.so, may conflict with libconsole_bridge.so.0.4
CMakeFiles/test_controller_manager.dir/test/test_controller_manager.cpp.o: In function `TestControllerManager_controller_lifecycle_Test::TestBody()':
test_controller_manager.cpp:(.text+0x6ff): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_controller_manager.cpp:(.text+0x716): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_controller_manager.cpp:(.text+0x71e): undefined reference to `rclcpp_lifecycle::State::id() const'
test_controller_manager.cpp:(.text+0x901): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_controller_manager.cpp:(.text+0x918): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_controller_manager.cpp:(.text+0x920): undefined reference to `rclcpp_lifecycle::State::id() const'
test_controller_manager.cpp:(.text+0xb03): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_controller_manager.cpp:(.text+0xb1a): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_controller_manager.cpp:(.text+0xb22): undefined reference to `rclcpp_lifecycle::State::id() const'
test_controller_manager.cpp:(.text+0xd05): undefined reference to `controller_interface::ControllerInterface::get_lifecycle_node()'
test_controller_manager.cpp:(.text+0xd1c): undefined reference to `rclcpp_lifecycle::LifecycleNode::get_current_state()'
test_controller_manager.cpp:(.text+0xd24): undefined reference to `rclcpp_lifecycle::State::id() const'
libtest_controller.so: undefined reference to `rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::on_error(rclcpp_lifecycle::State const&)'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::deactivate()'
libtest_controller.so: undefined reference to `typeinfo for controller_interface::ControllerInterface'
libtest_controller.so: undefined reference to `vtable for rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface'
libtest_controller.so: undefined reference to `vtable for controller_interface::ControllerInterface'
libtest_controller.so: undefined reference to `rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::on_activate(rclcpp_lifecycle::State const&)'
libtest_controller.so: undefined reference to `rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::on_deactivate(rclcpp_lifecycle::State const&)'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::State::~State()'
libtest_controller.so: undefined reference to `rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::on_shutdown(rclcpp_lifecycle::State const&)'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::State::State(rclcpp_lifecycle::State const&)'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::get_node_base_interface()'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::configure()'
libtest_controller.so: undefined reference to `rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::on_cleanup(rclcpp_lifecycle::State const&)'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::cleanup()'
libcontroller_manager.so: undefined reference to `rclcpp_lifecycle::LifecycleNode::activate()'
libtest_controller.so: undefined reference to `controller_interface::ControllerInterface::init(std::weak_ptr, std::__cxx11::basic_string, std::allocator > const&)'
collect2: error: ld returned 1 exit status
CMakeFiles/test_controller_manager.dir/build.make:195: recipe for target 'test_controller_manager' failed
make[2]: *** [test_controller_manager] Error 1
CMakeFiles/Makefile2:1399: recipe for target 'CMakeFiles/test_controller_manager.dir/all' failed
make[1]: *** [CMakeFiles/test_controller_manager.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

[parthc-rob]

Package build succeeds on cleaning and rebuilding ament workspace.
ros2_controllers PR - WIP
@Karsten1987