Post-Foxy breaking changes (Collection Ticket)

[bmagyar]

Let's collect the known API/ABI breaking changes we'd like to see in a release coming after Foxy.

• Not an issue anymore, rclcpp deprecations took care of it. Move constants out of class & refactor to avoid lengthy casting in controller_manager constants issue
• Update actions: ros2_controllers#111 @tylerjw
• Remove BOOST compiler defintions from CMakeLists.txt files in rolling/galactic Remove BOOST compiler defintions from CMakeLists.txt files in rolling/galactic #184
• Use LifecycleNode once transitions cannot be triggered by externals. [Galactic+] Use LifecycleNode once transitions cannot be triggered by externals. #266 @vatanaksoytezer
• Hardware component lifecycle Hardware components extension for lifecycle support #503
• Remove controller_name from init function in ControllerInterface Remove controller_name from init function in ControllerInterface #251
• pass dt to controller update function #438
• Do not manually set C++ version to 14 #516
• Fix deprecation warning from rclcpp::Duration #511
• Refactor INSTANTIATE_TEST_CASE_P -> INSTANTIATE_TEST_SUITE_P #515
• Remove BOOST compiler definitions for pluginlib from CMakeLists #514
• Per-controller update rate v1 Per controller update rate without tests #513

[tylerjw]

Move constants out of class & refactor to avoid lengthy casting in controller_manager constants issue

The lengthy cast seems to be gone:

ros2_control/controller_manager/include/controller_manager/controller_manager.hpp

Line 126 in 7a0d516

const rclcpp::Duration & timeout = rclcpp::Duration::from_nanoseconds(kInfiniteTimeout));

[tylerjw]

I rebased 111 on ros2_controllers here: ros-controls/ros2_controllers#237 It needs the CI job approved before it can run because this is my first time opening a PR here.

[bmagyar]

Thanks for everyone who helped out, releases are now on the way!