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 89.64%. Comparing base (db10bd6) to head (c215493).

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   89.59%   89.64%   +0.04%     
==========================================
  Files         152      153       +1     
  Lines       17710    17788      +78     
  Branches     1454     1458       +4     
==========================================
+ Hits        15868    15946      +78     
+ Misses       1256     1255       -1     
- Partials      586      587       +1     

Flag	Coverage Δ
unittests	89.64% <91.35%> (+0.04%)	⬆️

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	99.35% <100.00%> (+0.01%)	⬆️
.../controller_manager/controller_manager_services.py	81.17% <25.00%> (-1.36%)	⬇️
controller_manager/src/controller_manager.cpp	77.27% <84.00%> (+0.40%)	⬆️

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[soham2560]

we decided in todays PMC meet to go back to cleanup, have made relevant changes at c5c3a13 and
40cf540

[christophfroehlich]

+1

[saikishor]

Just some minor nitpicks

[soham2560]

@saikishor have addressed your comments let me know what you think

[christophfroehlich]

LGTM, but could we add release notes for this please? And we should create a follow-up issue to path 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

[christophfroehlich]

Suggested change

	// find and clean controller if it is inactive
	// call cleanup transition, if it is inactive