Add cleanup_controller lifecycle transition

[soham2560]

Brief

This PR completes #1236 by @bailaC which was started to fix #759.

TODOs

• Address previous discussions on original PR
  • Port over suggestions from original PR refer 3b5f695
  • Change only service name to unconfigure_controller as discussed with @saikishor and @bmagyar refer 0e86448
  • Add documentation refer bf7418c

[codecov]

Codecov Report

❌ Patch coverage is 91.35802% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.51%. Comparing base (eaee0da) to head (923e603).
⚠️ Report is 2 commits behind head on master.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	84.00%	1 Missing and 3 partials ⚠️
.../controller_manager/controller_manager_services.py	25.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2414      +/-   ##
==========================================
+ Coverage   89.50%   89.51%   +0.01%     
==========================================
  Files         155      156       +1     
  Lines       18534    18625      +91     
  Branches     1489     1493       +4     
==========================================
+ Hits        16588    16673      +85     
- Misses       1346     1349       +3     
- Partials      600      603       +3     

Flag	Coverage Δ
unittests	89.51% <91.35%> (+0.01%)	⬆️

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

Files with missing lines	Coverage Δ
controller_manager/controller_manager/__init__.py	100.00% <ø> (ø)
.../include/controller_manager/controller_manager.hpp	97.29% <ø> (ø)
...ontroller_manager/test/test_cleanup_controller.cpp	100.00% <100.00%> (ø)
...ller_manager/test/test_controller_manager_srvs.cpp	99.42% <100.00%> (+0.01%)	⬆️
.../controller_manager/controller_manager_services.py	79.88% <25.00%> (-1.26%)	⬇️
controller_manager/src/controller_manager.cpp	77.37% <84.00%> (+0.12%)	⬆️

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[soham2560]

@christophfroehlich what would be a good place to add the release notes - Changelog? but for what version?
had something like below prepared

* Added `cleanup_controller` lifecycle transition to controller_manager,
  enabling controllers to transition from inactive to unconfigured state
  in alignment with ROS 2 Lifecycle semantics.
* Added CLI support for invoking controller cleanup.

[soham2560]

added rqt_controller_manager issue at #2912

[soham2560]

LGTM, but could we add release notes for this please? And we should create a follow-up issue to patch rqt_controller_manager with the new transition. Also this has to be udpated (in a future PR maybe)

ros2_control/ros2controlcli/ros2controlcli/verb/set_controller_state.py

Line 33 in eba8665

# choices=['unconfigured', 'inactive', 'active'], TODO(destogl): when cleanup is impl

ros2_control/ros2controlcli/ros2controlcli/verb/set_controller_state.py

Lines 48 to 59 in eba8665

	# TODO(destogl): This has to be implemented in CLI and controller manager
	# if args.state == 'unconfigured':
	# if matched_controller.state != 'inactive':
	# return f'cannot cleanup {matched_controller.name} ' \
	# f'from its current state {matched_controller.state}'
	# response = cleanup_controller(
	# node, args.controller_manager, args.controller_name
	# )
	# if not response.ok:
	# return 'Error cleaning up controller, check controller_manager logs'
	# # print(f'successfully cleaned up {args.controller_name}')
	# return 0

added PR for the set_controller_verb at #2913

[christophfroehlich]

what would be a good place to add the release notes

We manually collect the important changes in here.

[soham2560]

what would be a good place to add the release notes

We manually collect the important changes in here.

check out 923e603

[christophfroehlich]

Thanks!

[saikishor]

Just one nitpick, what do you think about this?