Add `set_controller_state` service to controller manager

[destogl]

Background

Service should be equivalent to set_hardware_compoent_state so that controller manager takes care of all transitions to the desired state. This service should replace than all the individual services used in CLI.

Instructions

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[bmagyar]

@destogl is this still relevant?

[debanik123]

serice to reload controller -->

ros2 control list_controllers
ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{start_controllers: [''], stop_controllers: ['<your_controller_name>'], strictness: 1, start_asap: true}"
ros2 control list_controllers
ros2 service call /controller_manager/unload_controller controller_manager_msgs/srv/UnloadController "{name: '<your_controller_name>'}"
ros2 control list_controllers
ros2 service call /controller_manager/load_controller controller_manager_msgs/srv/LoadController "{name: '<your_controller_name>'}"
ros2 control list_controllers
ros2 service call /controller_manager/configure_controller controller_manager_msgs/srv/ConfigureController "{name: '<your_controller_name>'}"
ros2 control list_controllers
ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{start_controllers: ['<your_controller_name>'], stop_controllers: [''], strictness: 1, start_asap: true}"
ros2 control list_controllers

or,
ros2 control set_controller_state <your_controller_name> inactive
ros2 control unload_controller <your_controller_name>
ros2 control load_controller <your_controller_name> --set-state active