fix: reset header stamps to zero in reset methods to prevent timeout

[Ishan1923]

Problem: When controllers reset their internal reference messages, the initialization functions assigned the current time (now()) to the new empty message's timestamp. This caused the message 'age' calculation to yield 0 seconds, which allowed the empty message to bypass safety timeout checks.

Solution:

• Modified the reset functions across the affected controllers to set the timestamp to rclcpp::Time(0) instead of the current time. This explicitly marks the reset message as an old/invalid command, ensuring the safety timeout logic halts the robot.
• Applied (void)node; cast to silence -Werror=unused-parameter compiler warnings without altering existing function signatures. I was unsure to remove this const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node as I might break ABI, but I guess this might not, as it completely separate.
• Updated EXPECT_EQ to EXPECT_GT in t_est_mecanum_drive_controller.cpp_ to correctly test the timestamp update against the new 0 baseline. The old EXPECT_EQ tested against an incorrect now() baseline; EXPECT_GT correctly ensures the timestamp advanced from 0.

Affected Controllers:

• admittance_controller
• diff_drive_controller
• gpio_controllers
• mecanum_drive_controller
• omni_wheel_drive_controller
• steering_controllers_library

fix #1774

[codecov]

Codecov Report

❌ Patch coverage is 96.15385% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 84.77%. Comparing base (3e66d39) to head (28d2417).

Files with missing lines	Patch %	Lines
gpio_controllers/src/gpio_command_controller.cpp	75.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #2197   +/-   ##
=======================================
  Coverage   84.77%   84.77%           
=======================================
  Files         153      153           
  Lines       15236    15241    +5     
  Branches     1322     1324    +2     
=======================================
+ Hits        12916    12921    +5     
  Misses       1838     1838           
  Partials      482      482           

Flag	Coverage Δ
unittests	84.77% <96.15%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...dmittance_controller/src/admittance_controller.cpp	73.61% <100.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	81.21% <100.00%> (ø)
..._drive_controller/src/mecanum_drive_controller.cpp	85.81% <100.00%> (+0.04%)	⬆️
..._controller/test/test_mecanum_drive_controller.cpp	99.34% <ø> (ø)
...ive_controller/src/omni_wheel_drive_controller.cpp	83.01% <100.00%> (ø)
...llers_library/src/steering_controllers_library.cpp	69.53% <100.00%> (+0.44%)	⬆️
gpio_controllers/src/gpio_command_controller.cpp	83.51% <75.00%> (ø)

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[thedevmystic]

Why don't we use [[maybe_unused]]? It was made for this exact scenario.

[Ishan1923]

Yes using [[maybe_unused]] sounds much more better, I will use this then

[christophfroehlich]

if we don't need the node object, why not change the function signature instead?

[Ishan1923]

I thought about that, but I wanted to avoid breaking API/ABI compatibility for downstream users. If breaking the ABI is acceptable for this target branch, just let me know and I will gladly change the signature.

[christophfroehlich]

On rolling we can break API. For the backports, we should add the new signatures but keep the old ones with a deprecation warning.

[Ishan1923]

Got it, thanks for clarifying;

I'll update rolling with the direct signature change, and for the backport PRs I'll keep the old signatures with a [[deprecated]] warning delegating to the new ones.

Will push shortly

[Ishan1923]

@christophfroehlich The function signatures have been updated for the rolling target.
Apologies for the delay; I was occupied with my mid-semester exams.

• Removed the unused node parameter and (void)node; casts from the
  reset_controller_reference_msg local helper functions in:
  • admittance_controller
  • gpio_controllers
  • mecanum_drive_controller
  • steering_controllers_library
• Local colcon test passes for all modified controllers.

[thedevmystic]

The edits in steering_controllers_library.cpp is not related to the fix, right?

So, why here?

[mergify]

This pull request is in conflict. Could you fix it @Ishan1923?