Migrate tests to use new Handle API

[saikishor]

This changes the StateInterface and CommandInterfaces used inside the tests to use the new Handles API and to move away from the deprecated API, so it'll be easier to break the API of the Handle where it needed a variable reference parsed. This is the first step toward that direction

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 86.66%. Comparing base (2da9e91) to head (6e69ff6).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2369      +/-   ##
==========================================
- Coverage   86.71%   86.66%   -0.05%     
==========================================
  Files         148      148              
  Lines       15832    15818      -14     
  Branches     1347     1347              
==========================================
- Hits        13728    13709      -19     
- Misses       1609     1612       +3     
- Partials      495      497       +2     

Flag	Coverage Δ
unittests	86.66% <100.00%> (-0.05%)	⬇️

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

Files with missing lines	Coverage Δ
...ned_filter_controller/test/test_chained_filter.cpp	98.33% <ø> (ø)
...ned_filter_controller/test/test_chained_filter.hpp	100.00% <ø> (ø)
...r_controller/test/test_multiple_chained_filter.cpp	98.11% <ø> (ø)
...r_controller/test/test_multiple_chained_filter.hpp	100.00% <ø> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	95.09% <100.00%> (+0.02%)	⬆️
..._controllers/test/test_gpio_command_controller.cpp	97.67% <ø> (ø)
...r_broadcaster/test/test_gps_sensor_broadcaster.cpp	100.00% <ø> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp	96.68% <100.00%> (-0.17%)	⬇️
pose_broadcaster/test/test_pose_broadcaster.hpp	88.88% <ø> (ø)
...broadcaster/test/test_range_sensor_broadcaster.cpp	94.68% <100.00%> (+0.23%)	⬆️
... and 1 more

... and 2 files with indirect coverage changes

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[christophfroehlich]

In principle LGTM, but I suppose another cleanup round, using the member variables with std::to_string() if they are used in the test assertions later.

[christophfroehlich]

Suggested change

	const std::vector<double> joint_states_ = {1.1};
	StateInterface::SharedPtr joint_1_pos_ =
	std::make_shared<StateInterface>(joint_names_[0], HW_IF_POSITION, &joint_states_[0]);
	std::make_shared<StateInterface>(joint_names_[0], HW_IF_POSITION, "double", "1.1");
	const std::vector<double> joint_states_ = {1.1};
	StateInterface::SharedPtr joint_1_pos_ = std::make_shared<StateInterface>(
	joint_names_[0], HW_IF_POSITION, "double", std::to_string(joint_states_[0]));

or remove the joint_states_ member (used twice in cpp)

[christophfroehlich]

Suggested change

	const std::vector<double> joint_states_ = {1.1, 2.2};
	StateInterface::SharedPtr joint_1_pos_ =
	std::make_shared<StateInterface>(joint_names_[0], HW_IF_POSITION, &joint_states_[0]);
	std::make_shared<StateInterface>(joint_names_[0], HW_IF_POSITION, "double", "1.1");
	StateInterface::SharedPtr joint_2_pos_ =
	std::make_shared<StateInterface>(joint_names_[1], HW_IF_POSITION, &joint_states_[1]);
	std::make_shared<StateInterface>(joint_names_[1], HW_IF_POSITION, "double", "2.2");
	rclcpp::executors::SingleThreadedExecutor executor;
	const std::vector<double> joint_states_ = {1.1, 2.2};
	StateInterface::SharedPtr joint_1_pos_ = std::make_shared<StateInterface>(
	joint_names_[0], HW_IF_POSITION, "double", std::to_string(joint_states_[0]));
	StateInterface::SharedPtr joint_2_pos_ = std::make_shared<StateInterface>(
	joint_names_[0], HW_IF_POSITION, "double", std::to_string(joint_states_[1]));

[christophfroehlich]

same here

[christophfroehlich]

same here

[christophfroehlich]

same here

[christophfroehlich]

same

[christophfroehlich]

same

[christophfroehlich]

  hardware_interface::StateInterface::SharedPtr range_ =
    std::make_shared<hardware_interface::StateInterface>(
      sensor_name_, "range", "double", std::to_string(sensor_range_));

[christophfroehlich]

same

[christophfroehlich]

same