Don't ask for export reference interface inthe callback of controller is not 'inactive' or 'active'

[destogl]

A small fix as per title.

When testing #813 I get following output:

[ros2_control_node-3] [FATAL] [1664395937.857899872] [pid_controller]: The internal storage for reference values 'reference_interfaces_' variable has size '0', but it is expected to have the size '6' equal to the number of exported reference interfaces. No reference interface will be exported. Please correct and recompile the controller with name 'pid_controller' and try again.

This fixes this and respects more the lifecycle.

[codecov-commenter]

Codecov Report

Merging #824 (47396ae) into master (925f5f3) will decrease coverage by 1.98%.
The diff coverage is 38.08%.

@@            Coverage Diff             @@
##           master     #824      +/-   ##
==========================================
- Coverage   34.61%   32.63%   -1.99%     
==========================================
  Files          52       91      +39     
  Lines        2981     9264    +6283     
  Branches     1855     6225    +4370     
==========================================
+ Hits         1032     3023    +1991     
- Misses        310      720     +410     
- Partials     1639     5521    +3882     

Flag	Coverage Δ
unittests	32.63% <38.08%> (-1.99%)	⬇️

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

Impacted Files	Coverage Δ
controller_manager/src/controller_manager.cpp	36.63% <ø> (-3.08%)	⬇️
controller_manager/src/realtime.cpp	0.00% <0.00%> (ø)
controller_manager/src/ros2_control_node.cpp	0.00% <0.00%> (ø)
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/sensor.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
hardware_interface/src/system.cpp	55.45% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp	8.98% <ø> (ø)
...dware_interface/test/test_component_interfaces.cpp	32.44% <ø> (+4.25%)	⬆️
hardware_interface/test/test_component_parser.cpp	8.52% <ø> (-3.13%)	⬇️
... and 107 more

[destogl]

@Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

• #843 Don't ask for export reference interface inthe callback of controller is not 'inactive' or 'active' (backport #824) has been created for branch humble