List controller claimed interfaces

[jordan-palacios]

With this PR the controller manager list_controllers service now also informs about the claimed interfaces by each controller akin to what was done in the ROS1 version of the service.

ros2 service call /controller_manager/list_controllers controller_manager_msgs/srv/ListControllers
requester: making request: controller_manager_msgs.srv.ListControllers_Request()

response:
controller_manager_msgs.srv.ListControllers_Response(controller=[controller_manager_msgs.msg.ControllerState(name='joint_trajectory_controller', state='active', type='joint_trajectory_controller/JointTrajectoryController', claimed_interfaces=['joint1/position', 'joint2/position']), controller_manager_msgs.msg.ControllerState(name='joint_state_broadcaster', state='active', type='joint_state_broadcaster/JointStateBroadcaster', claimed_interfaces=[])])

[bmagyar]

It looks good to me on first read, however it seems to have potential for small breaking changes. It seems justified though

[destogl]

This looks great!

@jordan-palacios : Do you think it would be useful also to list state interfaces a controller has access to?

[jordan-palacios]

@jordan-palacios : Do you think it would be useful also to list state interfaces a controller has access to?

@destogl More information does not hurt. Though since you can not really fail to claim state interfaces maybe I'd argue that information can be extracted from the controller itself? Anyway, if you think it could be useful open an issue and I'll take a look. Extending this should be straight forward.

[Abishalini]

Building the ROS2 driver breaks after this commit with the following error -

--- stderr: controller_manager                                      
In file included from /opt/ros/foxy/src/gtest_vendor/include/gtest/gtest.h:60,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/internal/gmock-internal-utils.h:47,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-actions.h:49,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock.h:59,
                 from /home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:15:
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp: In member function 'virtual void TestControllerManagerSrvs_list_controllers_srv_Test::TestBody()':
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:150:37: error: '__gnu_cxx::__alloc_traits<std::allocator<controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >, controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >::value_type' {aka 'struct controller_manager_msgs::msg::ControllerState_<std::allocator<void> >'} has no member named 'claimed_interfaces'
  150 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |                                     ^~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/internal/gtest-internal.h:1368:34: note: in definition of macro 'GTEST_TEST_BOOLEAN_'
 1368 |       ::testing::AssertionResult(expression)) \
      |                                  ^~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:150:3: note: in expansion of macro 'ASSERT_TRUE'
  150 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |   ^~~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:156:37: error: '__gnu_cxx::__alloc_traits<std::allocator<controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >, controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >::value_type' {aka 'struct controller_manager_msgs::msg::ControllerState_<std::allocator<void> >'} has no member named 'claimed_interfaces'
  156 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |                                     ^~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/internal/gtest-internal.h:1368:34: note: in definition of macro 'GTEST_TEST_BOOLEAN_'
 1368 |       ::testing::AssertionResult(expression)) \
      |                                  ^~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:156:3: note: in expansion of macro 'ASSERT_TRUE'
  156 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |   ^~~~~~~~~~~
In file included from /opt/ros/foxy/src/gtest_vendor/include/gtest/gtest.h:384,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/internal/gmock-internal-utils.h:47,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-actions.h:49,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock.h:59,
                 from /home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:15:
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:167:27: error: '__gnu_cxx::__alloc_traits<std::allocator<controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >, controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >::value_type' {aka 'struct controller_manager_msgs::msg::ControllerState_<std::allocator<void> >'} has no member named 'claimed_interfaces'
  167 |     result->controller[0].claimed_interfaces,
      |                           ^~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/gtest_pred_impl.h:76:52: note: in definition of macro 'GTEST_ASSERT_'
   76 |   if (const ::testing::AssertionResult gtest_ar = (expression)) \
      |                                                    ^~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/gtest_pred_impl.h:117:3: note: in expansion of macro 'GTEST_PRED_FORMAT1_'
  117 |   GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_FATAL_FAILURE_)
      |   ^~~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-matchers.h:4512:37: note: in expansion of macro 'ASSERT_PRED_FORMAT1'
 4512 | #define ASSERT_THAT(value, matcher) ASSERT_PRED_FORMAT1(\
      |                                     ^~~~~~~~~~~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:166:3: note: in expansion of macro 'ASSERT_THAT'
  166 |   ASSERT_THAT(
      |   ^~~~~~~~~~~
In file included from /opt/ros/foxy/src/gtest_vendor/include/gtest/gtest.h:60,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/internal/gmock-internal-utils.h:47,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-actions.h:49,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock.h:59,
                 from /home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:15:
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:178:37: error: '__gnu_cxx::__alloc_traits<std::allocator<controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >, controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >::value_type' {aka 'struct controller_manager_msgs::msg::ControllerState_<std::allocator<void> >'} has no member named 'claimed_interfaces'
  178 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |                                     ^~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/internal/gtest-internal.h:1368:34: note: in definition of macro 'GTEST_TEST_BOOLEAN_'
 1368 |       ::testing::AssertionResult(expression)) \
      |                                  ^~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:178:3: note: in expansion of macro 'ASSERT_TRUE'
  178 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |   ^~~~~~~~~~~
In file included from /opt/ros/foxy/src/gtest_vendor/include/gtest/gtest.h:384,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/internal/gmock-internal-utils.h:47,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-actions.h:49,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock.h:59,
                 from /home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:15:
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:191:27: error: '__gnu_cxx::__alloc_traits<std::allocator<controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >, controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >::value_type' {aka 'struct controller_manager_msgs::msg::ControllerState_<std::allocator<void> >'} has no member named 'claimed_interfaces'
  191 |     result->controller[0].claimed_interfaces,
      |                           ^~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/gtest_pred_impl.h:76:52: note: in definition of macro 'GTEST_ASSERT_'
   76 |   if (const ::testing::AssertionResult gtest_ar = (expression)) \
      |                                                    ^~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/gtest_pred_impl.h:117:3: note: in expansion of macro 'GTEST_PRED_FORMAT1_'
  117 |   GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_FATAL_FAILURE_)
      |   ^~~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-matchers.h:4512:37: note: in expansion of macro 'ASSERT_PRED_FORMAT1'
 4512 | #define ASSERT_THAT(value, matcher) ASSERT_PRED_FORMAT1(\
      |                                     ^~~~~~~~~~~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:190:3: note: in expansion of macro 'ASSERT_THAT'
  190 |   ASSERT_THAT(
      |   ^~~~~~~~~~~
In file included from /opt/ros/foxy/src/gtest_vendor/include/gtest/gtest.h:60,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/internal/gmock-internal-utils.h:47,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock-actions.h:49,
                 from /opt/ros/foxy/src/gmock_vendor/include/gmock/gmock.h:59,
                 from /home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:15:
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:202:37: error: '__gnu_cxx::__alloc_traits<std::allocator<controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >, controller_manager_msgs::msg::ControllerState_<std::allocator<void> > >::value_type' {aka 'struct controller_manager_msgs::msg::ControllerState_<std::allocator<void> >'} has no member named 'claimed_interfaces'
  202 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |                                     ^~~~~~~~~~~~~~~~~~
/opt/ros/foxy/src/gtest_vendor/include/gtest/internal/gtest-internal.h:1368:34: note: in definition of macro 'GTEST_TEST_BOOLEAN_'
 1368 |       ::testing::AssertionResult(expression)) \
      |                                  ^~~~~~~~~~
/home/picknik/ws_light_demo/src/ros2_control/controller_manager/test/test_controller_manager_srvs.cpp:202:3: note: in expansion of macro 'ASSERT_TRUE'
  202 |   ASSERT_TRUE(result->controller[0].claimed_interfaces.empty());
      |   ^~~~~~~~~~~
make[2]: *** [CMakeFiles/test_controller_manager_srvs.dir/build.make:63: CMakeFiles/test_controller_manager_srvs.dir/test/test_controller_manager_srvs.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:425: CMakeFiles/test_controller_manager_srvs.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
---
Failed   <<< controller_manager [24.9s, exited with code 2]