Add `set_controller_state` service to controller manager

[destogl]

Background

Service should be equivalent to set_hardware_compoent_state so that controller manager takes care of all transitions to the desired state. This service should replace than all the individual services used in CLI.

Instructions

Hi, this is a good-first-issue issue. This means we've worked to make it more legible to people who either haven't contributed to our codebase before, or even folks who haven't contributed to open source before.

We're interested in helping you take the first step, and can answer questions and help you out along the way. Note that we're especially interested in contributions from underrepresented groups!

We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝

If you have contributed before, consider leaving this PR for someone new, and looking through our general bug issues. Thanks!

🤔 What you will need to know.

Nothing. This issue is meant to welcome you to Open Source :) We are happy to walk you through the process.

📋 Step by Step

• [ ] 🙋 Claim this issue: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!

• [ ] 🗄️ Create a local workspace for making your changes and testing following these instructions, for Step3 use "Download Source Code" section with these instructions.

• [ ] 🍴 Fork the repository using the handy button at the top of the repository page and clone it into ~/ws_ros2_control/src/ros-controls/ros2_control, here is a guide that you can follow (You will have to remove or empty the existing ros2_control folder before cloning your own fork)

• [ ] Checkout a new branch using git checkout -b <branch_name>

• [ ] 🤖 Apply pre-commit auto formatting, by running pip3 install pre-commit and running pre-commit install in the ros2_control repo.

• [ ] 💾 Commit and Push your changes

• [ ] 🔀 Start a Pull Request to request to merge your code into master. There are two ways that you can start a pull request:

  1. If you are not familiar with GitHub or how to create a pull request, here is a guide you can follow on how GitHub works.

• [ ] 🏁 Done Ask in comments for a review :)

Is someone else already working on this?

🔗- We encourage contributors to link to the original issue in their pull request so all users can easily see if someone's already started on it.

👥- If someone seems stuck, offer them some help!

🤔❓ Questions?

Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below! Furthermore, you find helpful resources here:

• ROS2 Control Contribution Guide
• ROS2 Tutorials
• ROS Answers

Good luck with your first issue!

[bmagyar]

@destogl is this still relevant?

[debanik123]

serice to reload controller -->

ros2 control list_controllers ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{start_controllers: [''], stop_controllers: [''], strictness: 1, start_asap: true}" ros2 control list_controllers ros2 service call /controller_manager/unload_controller controller_manager_msgs/srv/UnloadController "{name: ''}" ros2 control list_controllers ros2 service call /controller_manager/load_controller controller_manager_msgs/srv/LoadController "{name: ''}" ros2 control list_controllers ros2 service call /controller_manager/configure_controller controller_manager_msgs/srv/ConfigureController "{name: ''}" ros2 control list_controllers ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{start_controllers: [''], stop_controllers: [''], strictness: 1, start_asap: true}" ros2 control list_controllers

or, ros2 control set_controller_state inactive ros2 control unload_controller ros2 control load_controller --set-state active