Fix RealtimeBox API changes

[christophfroehlich]

ros-controls/realtime_tools#200

[bmagyar]

This PR swaps out 2 controllers' main input to use the stamped version without any deprecation. There is very little actual alignment with the realtime_tools API that I can see. Would it be possible to separate these onto 2 PRs?

[christophfroehlich]

No, that is not true: There is no change! I was just puzzled by this alias and renamed it:
using Twist = geometry_msgs::msg::TwistStamped;
I can move that to a follow-up PR if you like to.

[bmagyar]

Yes please and I stand corrected 🫡

[mergify]

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

[bmagyar]

thank you!

[codecov]

Codecov Report

Attention: Patch coverage is 72.72727% with 6 lines in your changes missing coverage. Please review.

Project coverage is 83.57%. Comparing base (36068e1) to head (0ad818a).

Files with missing lines	Patch %	Lines
...iff_drive_controller/src/diff_drive_controller.cpp	72.72%	2 Missing and 1 partial ⚠️
tricycle_controller/src/tricycle_controller.cpp	72.72%	2 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1385      +/-   ##
==========================================
+ Coverage   83.56%   83.57%   +0.01%     
==========================================
  Files         122      122              
  Lines       10992    10993       +1     
  Branches      937      936       -1     
==========================================
+ Hits         9185     9187       +2     
  Misses       1493     1493              
+ Partials      314      313       -1     

Flag	Coverage Δ
unittests	83.57% <72.72%> (+0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	93.60% <ø> (ø)
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
...cycle_controller/test/test_tricycle_controller.cpp	89.32% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	76.51% <72.72%> (+0.08%)	⬆️
tricycle_controller/src/tricycle_controller.cpp	66.26% <72.72%> (+0.13%)	⬆️

... and 3 files with indirect coverage changes

[saikishor]

I'm curious about the effect of the try_get we might have

[saikishor]

May be it is better to set the last_command_msg_ to empty in the configure. Same goes for the test changes

[christophfroehlich]

May be it is better to set the last_command_msg_ to empty in the configure. Same goes for the test changes

We don't use try_get in the tests?

[saikishor]

We don't use try_get in the tests?

Sure it is not needed

[saikishor]

Looks spot on!

Thanks a lot for fixing things :)

[christophfroehlich]

So we don't need to backport this after the branch-off of realtime_tools right?