Use new handles API in ros2_controllers to fix deprecation warnings (backport #1566)

[mergify]

This PR applies the new API changes in the handles of ros2_control in following controllers in same fashion as #1565:

• ackermann_steering_controller
• bicycle_steering_controller
• admittance_controller
• effort_controllers
• forward_command_controller
• gpio_controllers
• gripper_controllers
• mecanum_drive_controller
• parallel_gripper_controller
• tricycle_controller
• pid_controller
• tricycle_steering_controller
• mecum_driver_contoller
• force_torque_sensor_broadcaster
• steering_controllers_library
• joint_state_broadcaster
• position_controllers
• joint_trajectory_controller (partial fixed)
• diff_drive_controller

---

This is an automatic backport of pull request #1566 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 76c07f9 has failed:

On branch mergify/bp/jazzy/pr-1566
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 76c07f9.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   ackermann_steering_controller/src/ackermann_steering_controller.cpp
	modified:   ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
	modified:   admittance_controller/src/admittance_controller.cpp
	modified:   bicycle_steering_controller/src/bicycle_steering_controller.cpp
	modified:   bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
	modified:   diff_drive_controller/src/diff_drive_controller.cpp
	modified:   effort_controllers/src/joint_group_effort_controller.cpp
	modified:   effort_controllers/test/test_joint_group_effort_controller.cpp
	modified:   force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
	modified:   forward_command_controller/test/test_forward_command_controller.cpp
	modified:   forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
	modified:   gpio_controllers/src/gpio_command_controller.cpp
	modified:   gpio_controllers/test/test_gpio_command_controller.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
	modified:   mecanum_drive_controller/src/mecanum_drive_controller.cpp
	modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
	modified:   pid_controller/src/pid_controller.cpp
	modified:   position_controllers/test/test_joint_group_position_controller.cpp
	modified:   tricycle_controller/src/tricycle_controller.cpp
	modified:   tricycle_controller/test/test_tricycle_controller.cpp
	modified:   tricycle_steering_controller/src/tricycle_steering_controller.cpp
	modified:   tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
	modified:   velocity_controllers/src/joint_group_velocity_controller.cpp
	modified:   velocity_controllers/test/test_joint_group_velocity_controller.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   forward_command_controller/src/forward_controllers_base.cpp
	both modified:   joint_trajectory_controller/src/joint_trajectory_controller.cpp
	both modified:   parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
	both modified:   pid_controller/test/test_pid_controller.cpp
	both modified:   pid_controller/test/test_pid_controller_dual_interface.cpp
	both modified:   steering_controllers_library/src/steering_controllers_library.cpp
	both modified:   steering_controllers_library/test/test_steering_controllers_library.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 51.92982% with 137 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.85%. Comparing base (3602fb4) to head (a9ad4d6).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...roller/parallel_gripper_action_controller_impl.hpp	6.06%	30 Missing and 1 partial ⚠️
...ory_controller/src/joint_trajectory_controller.cpp	52.83%	17 Missing and 8 partials ⚠️
...llers_library/src/steering_controllers_library.cpp	44.11%	14 Missing and 5 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	33.33%	12 Missing and 2 partials ⚠️
tricycle_controller/src/tricycle_controller.cpp	28.57%	6 Missing and 4 partials ⚠️
pid_controller/src/pid_controller.cpp	44.44%	3 Missing and 2 partials ⚠️
gpio_controllers/src/gpio_command_controller.cpp	50.00%	2 Missing and 2 partials ⚠️
..._controllers/src/joint_group_effort_controller.cpp	0.00%	2 Missing and 1 partial ⚠️
...ommand_controller/src/forward_controllers_base.cpp	25.00%	2 Missing and 1 partial ⚠️
...per_controllers/gripper_action_controller_impl.hpp	25.00%	3 Missing ⚠️
... and 9 more

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #1934      +/-   ##
==========================================
- Coverage   85.55%   84.85%   -0.70%     
==========================================
  Files         138      138              
  Lines       13236    13379     +143     
  Branches     1146     1178      +32     
==========================================
+ Hits        11324    11353      +29     
- Misses       1550     1634      +84     
- Partials      362      392      +30     

Flag	Coverage Δ
unittests	84.85% <51.92%> (-0.70%)	⬇️

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

Files with missing lines	Coverage Δ
...roller/test/test_ackermann_steering_controller.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...ollers/test/test_joint_group_effort_controller.cpp	98.43% <ø> (ø)
...ster/test/test_force_torque_sensor_broadcaster.cpp	98.46% <ø> (ø)
...ontroller/test/test_forward_command_controller.cpp	98.66% <ø> (ø)
...est_multi_interface_forward_command_controller.cpp	99.13% <ø> (ø)
..._controllers/test/test_gpio_command_controller.cpp	99.00% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
pid_controller/test/test_pid_controller.cpp	100.00% <100.00%> (ø)
...roller/test/test_pid_controller_dual_interface.cpp	100.00% <ø> (ø)
... and 24 more

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[christophfroehlich]

Thx for fixing the merge conflicts. I fixed some additional warnings from parts which do not exist any more on rolling.

[saikishor]

Looking good