Delete MoveIt fake_controller_manager

[AndyZe]

This deletes the fake_controller_manager plugin. I don't believe it's needed anymore because ros2_control supports simulation in a fairly easy way. All you need to do is specify fake components in your_robot.ros2_control.xacro. (example)

<hardware>
    <plugin>fake_components/GenericSystem</plugin>
</hardware>

Then the fake controllers get launched just like a real hardware controller from a launch file:

ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"panda_ros_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, ros2_controllers_path],
)

This is great! It's only a few words difference between hardware and simulation.

I also think it would be good to delete this from MoveIt2 sooner rather than later, to minimize the number of people using fake_controller_manager.

Tagging @v4hn and @rhaschke because they were the code owners in MoveIt1.

[codecov]

Codecov Report

Merging #471 (7e0fffe) into main (8423af3) will decrease coverage by 0.01%.
The diff coverage is 85.72%.

@@            Coverage Diff             @@
##             main     #471      +/-   ##
==========================================
- Coverage   48.86%   48.85%   -0.00%     
==========================================
  Files         218      218              
  Lines       22987    22969      -18     
==========================================
- Hits        11230    11220      -10     
+ Misses      11757    11749       -8     

Impacted Files	Coverage Δ
...lanning_request_adapter/planning_request_adapter.h	0.00% <ø> (ø)
..._adapter_plugins/src/fix_start_state_collision.cpp	32.82% <66.67%> (-2.80%)	⬇️
..._plugins/src/add_time_optimal_parameterization.cpp	93.75% <100.00%> (+1.45%)	⬆️
...est_adapter_plugins/src/fix_start_state_bounds.cpp	40.00% <100.00%> (-3.03%)	⬇️
...quest_adapter_plugins/src/fix_workspace_bounds.cpp	95.00% <100.00%> (+3.70%)	⬆️

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 827646f...7e0fffe. Read the comment docs.

[henningkayser]

I fully agree. Making ros2_control GenericSystem the default minimizes the changes for running setups on hardware and it directly supports all kinds of controllers. I also don't see the use case for the fake controller anymore. I'd still wait for a second opinion by either one of the code owners.

[JafarAbdi]

Should we remove moveit_ros_control_interface .? we're not using it at all

[AndyZe]

How about in a new PR?

[tylerjw]

This needs to be rebased for us to merge it.