Add cleanup_controller lifecycle transition

[soham2560]

Brief

This PR completes #1236 by @bailaC which was started to fix #759.

TODOs

• Address previous discussions on original PR
  • Port over suggestions from original PR refer 3b5f695
  • Change only service name to unconfigure_controller as discussed with @saikishor and @bmagyar refer 0e86448
  • Add documentation refer bf7418c

[codecov]

Codecov Report

❌ Patch coverage is 91.35802% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 88.93%. Comparing base (39c588e) to head (b0954f3).

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	84.00%	1 Missing and 3 partials ⚠️
.../controller_manager/controller_manager_services.py	25.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2414      +/-   ##
==========================================
+ Coverage   88.92%   88.93%   +0.01%     
==========================================
  Files         148      149       +1     
  Lines       16973    17053      +80     
  Branches     1448     1452       +4     
==========================================
+ Hits        15093    15166      +73     
- Misses       1318     1321       +3     
- Partials      562      566       +4     

Flag	Coverage Δ
unittests	88.93% <91.35%> (+0.01%)	⬆️

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

Files with missing lines	Coverage Δ
controller_manager/controller_manager/__init__.py	100.00% <ø> (ø)
.../include/controller_manager/controller_manager.hpp	96.87% <ø> (ø)
...ontroller_manager/test/test_cleanup_controller.cpp	100.00% <100.00%> (ø)
...ller_manager/test/test_controller_manager_srvs.cpp	99.35% <100.00%> (+0.01%)	⬆️
.../controller_manager/controller_manager_services.py	81.17% <25.00%> (-1.36%)	⬇️
controller_manager/src/controller_manager.cpp	74.59% <84.00%> (+0.11%)	⬆️

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[soham2560]

For the suggestions from #1236 refer 3b5f695

[christophfroehlich]

Why naming the transition unconfigure? Usually we try to stick to the ROS 2 lifecycle nomenclature, there is no unconfigure?
https://design.ros2.org/articles/node_lifecycle.html

[soham2560]

Why naming the transition unconfigure? Usually we try to stick to the ROS 2 lifecycle nomenclature, there is no unconfigure?
https://design.ros2.org/articles/node_lifecycle.html

This had come out of a conversation I had with @saikishor and @bmagyar some weeks back. @saikishor 's opinion was that unconfigure is a much more intuitive transition name and preferred for human facing interfaces which makes sense to me too(hence change is only for verbs and services) and @bmagyar also agreed that maybe we should make the change across the board (like in rqt controller manager, as you might remember we had a similar discussion at #2151) and maybe not remain tied to the node lifecycle naming scheme.

They might be able to much better explain their own views, but that was the reasoning at the time that convinced me to go for it

[saikishor]

Why naming the transition unconfigure? Usually we try to stick to the ROS 2 lifecycle nomenclature, there is no unconfigure?
https://design.ros2.org/articles/node_lifecycle.html

This had come out of a conversation I had with @saikishor and @bmagyar some weeks back. @saikishor 's opinion was that unconfigure is a much more intuitive transition name and preferred for human facing interfaces which makes sense to me too(hence change is only for verbs and services) and @bmagyar also agreed that maybe we should make the change across the board (like in rqt controller manager, as you might remember we had a similar discussion at #2151) and maybe not remain tied to the node lifecycle naming scheme.

They might be able to much better explain their own views, but that was the reasoning at the time that convinced me to go for it

@christophfroehlich if needed, we can discuss this at PMC meeting

[destogl]

Why naming the transition unconfigure? Usually we try to stick to the ROS 2 lifecycle nomenclature, there is no unconfigure? https://design.ros2.org/articles/node_lifecycle.html

In the node lifecycle naming, there is even no such transition. So I think this is fine as it doesn't collide with anything.

[christophfroehlich]

In the node lifecycle naming, there is even no such transition. So I think this is fine as it doesn't collide with anything.

I'm not sure if I understand: The proposal here is to transit from inactive state to unconfigured, this transition exists and is called cleanup?

[soham2560]

we decided in todays PMC meet to go back to cleanup, have made relevant changes at c5c3a13 and
40cf540

[christophfroehlich]

+1