Update ros2_control usage

[sjahr]

Description

Address ros2_control deprecation warnings. More info here: https://github.com/ros-controls/ros2_control/blob/89c8658a3419e4d23aea37eda7b17a0d1eecb840/controller_manager/src/controller_manager.cpp#L276

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (0e1e376) 50.99% compared to head (da8756b) 51.01%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2620      +/-   ##
==========================================
+ Coverage   50.99%   51.01%   +0.02%     
==========================================
  Files         387      387              
  Lines       32308    32308              
==========================================
+ Hits        16473    16479       +6     
+ Misses      15835    15829       -6     

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[moriarty]

https://github.com/ros-planning/moveit2/actions/runs/7263096070/job/19787649168?pr=2620

    [ros2_control_node-3] [INFO] [1702997898.614532823] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
    [ros2_control_node-3] [INFO] [1702997898.620040433] [controller_manager]: update rate is 100 Hz
    [ros2_control_node-3] [INFO] [1702997898.620188677] [controller_manager]: RT kernel is recommended for better performance
    [ros2_control_node-3] Stack trace (most recent call last) in thread 32856:
    [ros2_control_node-3] #6    Object "", at 0xffffffffffffffff, in 
    [ros2_control_node-3] #5    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f448dcbf813, in __clone
    [ros2_control_node-3] #4    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f448dc2eac2, in 
    [ros2_control_node-3] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f448debe252, in 
    [ros2_control_node-3] #2    Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55fe6d152800, in 
    [ros2_control_node-3] #1    Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f448e2c9294, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&)
    [ros2_control_node-3] #0    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f448dacaaec, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&)
    [ros2_control_node-3] Segmentation fault (Signal sent by the kernel [(nil)])
Error: ROR] [ros2_control_node-3]: process has died [pid 32845, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /home/runner/work/moveit2/moveit2/.work/upstream_ws/install/moveit_resources_panda_moveit_config/share/moveit_resources_panda_moveit_config/config/ros2_controllers.yaml -r /controller_manager/robot_description:=/robot_description'].

[sjahr]

Unfortunately, this segfault is not caused nor unique to this PR

[sea-bass]

@sjahr I think with #2635 the humble-ci job is fixed, so I've rerun the workflow now and maybe it will pass?