Add cast to boolean for cm_topic component

[christophfroehlich]

Bags recorded with ros-controls/ros2_control#2633 will fail now due to bad variant access.

Needs: ros-controls/ros2_control#2831

[christophfroehlich]

I changed it to switch locally as pre request of @saikishor. An alternative to doing this in the framework ros-controls/ros2_control#2857
Disadvantage: we have to update this component every time we update the variants.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 80.00000% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 78.46%. Comparing base (9ca705d) to head (5912cc1).

Files with missing lines	Patch %	Lines
...ware_component/src/cm_topic_hardware_component.cpp	75.00%	3 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main      #64   +/-   ##
=======================================
  Coverage   78.45%   78.46%           
=======================================
  Files           6        6           
  Lines         441      455   +14     
  Branches       45       45           
=======================================
+ Hits          346      357   +11     
- Misses         66       69    +3     
  Partials       29       29           

Flag	Coverage Δ
unittests	78.46% <80.00%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...omponent/test/cm_topic_hardware_component_test.cpp	87.77% <100.00%> (+0.42%)	⬆️
...ware_component/src/cm_topic_hardware_component.cpp	78.04% <75.00%> (-1.96%)	⬇️

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[saikishor]

LGTM

[christophfroehlich]

Suggested change

	url: https://github.com/pal-robotics-forks/ros2_control.git
	version: add/state_and_command_interface_handle_getters
	url: https://github.com/ros-controls/ros2_control.git
	version: master

[MarqRazz]

Changes look good. Maybe have a debug log for unsupported datatypes that way it's a little easier for people to see whats wrong without having to dig through the source code.