Sort controllers while configuring instead of while activating

[saikishor]

This PR aims to address the requirement of sorting all controllers that on configure rather than on switching them to active.

[codecov-commenter]

Codecov Report

Merging #1107 (6ffa209) into master (971ff39) will increase coverage by 0.15%.
The diff coverage is 29.62%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1107      +/-   ##
==========================================
+ Coverage   31.62%   31.78%   +0.15%     
==========================================
  Files          94       94              
  Lines       10838    10804      -34     
  Branches     7419     7387      -32     
==========================================
+ Hits         3428     3434       +6     
+ Misses        804      792      -12     
+ Partials     6606     6578      -28     

Flag	Coverage Δ
unittests	31.78% <29.62%> (+0.15%)	⬆️

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

Files	Coverage Δ
...chainable_controller/test_chainable_controller.cpp	67.74% <100.00%> (+6.63%)	⬆️
...r_manager/test/test_controller/test_controller.cpp	94.11% <100.00%> (+16.84%)	⬆️
controller_manager/test/test_load_controller.cpp	26.43% <33.33%> (+0.84%)	⬆️
...ontroller_manager/test/test_controller_manager.cpp	27.90% <30.76%> (+0.70%)	⬆️
...ller_manager/test/test_controller_manager_srvs.cpp	12.39% <0.00%> (+0.59%)	⬆️
controller_manager/src/controller_manager.cpp	38.57% <27.77%> (+0.19%)	⬆️

[christophfroehlich]

LGTM.

Is there consensus about doing this during configure? It makes sense to me, because read/write is also called in inactive state.

[mergify]

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

[destogl]

LGTM.

Is there consensus about doing this during configure? It makes sense to me, because read/write is also called in inactive state.

this is one thing and another thing is that in this stage we have enough information for sorting and call is not in the real-time loop.

[destogl]

I am not convinced about tests. I think we are losing some granularity in them. If you disagree, I am open to discuss that.

[destogl]

Thanks for following up on this and explaining everything.