Update realtime containers (backport #1721)

[mergify]

Apply changes from the guidelines added with ros-controls/realtime_tools#347

• I changed all Boxes to use the messages itself, instead of a smart pointer to it.
• Messages get pre-allocated and saved later for the case that any try_get fails in the RT thread
• I refactored the steering_controllers_lib a bit, to have the same timeout logic that the mecanum_controller has. This needed some updates of the tests, too.
• Apart from that, the behavior of all controllers should not change at all

  ---

  This is an automatic backport of pull request Update realtime containers #1721 done by Mergify.

[mergify]

Cherry-pick of a88bf0a has failed:

On branch mergify/bp/jazzy/pr-1721
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit a88bf0a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   admittance_controller/include/admittance_controller/admittance_controller.hpp
	modified:   admittance_controller/src/admittance_controller.cpp
	modified:   diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
	modified:   diff_drive_controller/src/diff_drive_controller.cpp
	modified:   diff_drive_controller/test/test_diff_drive_controller.cpp
	modified:   effort_controllers/test/test_joint_group_effort_controller.cpp
	modified:   forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
	modified:   forward_command_controller/test/test_forward_command_controller.cpp
	modified:   forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
	modified:   gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
	modified:   gpio_controllers/src/gpio_command_controller.cpp
	modified:   gpio_controllers/test/test_gpio_command_controller.cpp
	modified:   mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
	modified:   mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
	modified:   mecanum_drive_controller/src/mecanum_drive_controller.cpp
	modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
	modified:   parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp
	modified:   parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
	modified:   pid_controller/include/pid_controller/pid_controller.hpp
	modified:   position_controllers/test/test_joint_group_position_controller.cpp
	modified:   steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
	modified:   steering_controllers_library/src/steering_controllers_library.cpp
	modified:   steering_controllers_library/test/test_steering_controllers_library.cpp
	modified:   steering_controllers_library/test/test_steering_controllers_library.hpp
	modified:   velocity_controllers/test/test_joint_group_velocity_controller.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
	both modified:   bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
	both modified:   forward_command_controller/src/forward_controllers_base.cpp
	both modified:   pid_controller/src/pid_controller.cpp
	both modified:   pid_controller/test/test_pid_controller.cpp
	both modified:   pid_controller/test/test_pid_controller.hpp
	both modified:   tricycle_steering_controller/test/test_tricycle_steering_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[saikishor]

@christophfroehlich will we need this in Jazzy or not needed?

[christophfroehlich]

@saikishor I just had a look, we haven't deprecated the RealtimeBuffer yet: Technically, there is no need but it will increase merge conflicts of future backports if we don't. What do you think?

[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?

[saikishor]

@saikishor I just had a look, we haven't deprecated the RealtimeBuffer yet: Technically, there is no need but it will increase merge conflicts of future backports if we don't. What do you think?

Yes. If it has the new API, then better to already backport it.

[codecov]

Codecov Report

❌ Patch coverage is 86.51399% with 53 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.79%. Comparing base (d34b72e) to head (c6ff2f5).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...roller/parallel_gripper_action_controller_impl.hpp	4.76%	20 Missing ⚠️
pid_controller/src/pid_controller.cpp	66.66%	8 Missing and 3 partials ⚠️
...llers_library/src/steering_controllers_library.cpp	72.72%	4 Missing and 5 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	83.33%	1 Missing and 3 partials ⚠️
gpio_controllers/src/gpio_command_controller.cpp	78.94%	2 Missing and 2 partials ⚠️
...ommand_controller/src/forward_controllers_base.cpp	81.25%	0 Missing and 3 partials ⚠️
...iff_drive_controller/src/diff_drive_controller.cpp	93.75%	0 Missing and 1 partial ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	97.05%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #1935      +/-   ##
==========================================
- Coverage   84.85%   84.79%   -0.07%     
==========================================
  Files         138      138              
  Lines       13379    13485     +106     
  Branches     1178     1194      +16     
==========================================
+ Hits        11353    11434      +81     
- Misses       1634     1647      +13     
- Partials      392      404      +12     

Flag	Coverage Δ
unittests	84.79% <86.51%> (-0.07%)	⬇️

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

Files with missing lines	Coverage Δ
...roller/test/test_ackermann_steering_controller.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	94.31% <ø> (ø)
...ollers/test/test_joint_group_effort_controller.cpp	98.43% <100.00%> (ø)
...rd_command_controller/forward_controllers_base.hpp	100.00% <ø> (ø)
...ontroller/test/test_forward_command_controller.cpp	98.65% <100.00%> (-0.01%)	⬇️
...est_multi_interface_forward_command_controller.cpp	99.13% <100.00%> (-0.01%)	⬇️
..._controllers/test/test_gpio_command_controller.cpp	99.00% <100.00%> (ø)
...ller/include/mecanum_drive_controller/odometry.hpp	100.00% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
... and 15 more

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.