Misplaced param init in admittance_controller

[guihomework]

admittance_controller was initializing the ParamListener twice in on_init and on_configure. This should not be required.
However, without this, the test failed. The test was calling on_configure when on_init failed (due to a missing param). Now the test ensures on_init fails, and if it does not (because all its params are available), then calls on_configure (which might require other params, as will be the case for future pluginlib-based filter loading).

[destogl]

I think that the test should be adjusted into two tests. I am not sure if this can actually happen, what we are testing.

[bmagyar]

@guihomework any updates on this sir?

[guihomework]

Almost certain I can rework on this on the 3rd of April. Maybe earlier if I find a few minutes. Now still away from office.

[codecov-commenter]

Codecov Report

Merging #547 (65fbcf9) into master (e7f9962) will decrease coverage by 3.31%.
The diff coverage is 26.60%.

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@@            Coverage Diff             @@
##           master     #547      +/-   ##
==========================================
- Coverage   35.78%   32.48%   -3.31%     
==========================================
  Files         189        7     -182     
  Lines       17570      665   -16905     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      216    -6071     
+ Misses        994      157     -837     
+ Partials    10289      292    -9997     

Flag	Coverage Δ
unittests	32.48% <26.60%> (-3.31%)	⬇️

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

Impacted Files	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	39.22% <35.50%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes