Use new handles API in ros2_controllers to fix deprecation warnings

[kumar-sanjeeev]

This PR applies the new API changes in the handles of ros2_control in following controllers in same fashion as #1565:

• ackermann_steering_controller
• bicycle_steering_controller
• admittance_controller
• effort_controllers
• forward_command_controller
• gpio_controllers
• gripper_controllers
• mecanum_drive_controller
• parallel_gripper_controller
• tricycle_controller
• pid_controller
• tricycle_steering_controller
• mecum_driver_contoller
• force_torque_sensor_broadcaster
• steering_controllers_library
• joint_state_broadcaster
• position_controllers
• joint_trajectory_controller (partial fixed)
• diff_drive_controller

[christophfroehlich]

Looks fine, thanks!

[kumar-sanjeeev]

Looks fine, thanks!

@christophfroehlich hi, one question - I have made progress on other controllers as well locally on my system. Can I push these changes into this PR as well (will update description), or should I wait for more reviews on current submitted PR ?

[christophfroehlich]

@saikishor ?

[saikishor]

The changes already look good to me. I just forgot to comment.
@kumar-sanjeeev yes, please proceed with other packages as well

[kumar-sanjeeev]

@saikishor and @christophfroehlich , one question, would you like me to complete all the controller packages first, and then you would review them of all together? Or would you prefer to first provide feedback on the commits that have already been pushed in this PR?

[christophfroehlich]

apply the changes to all of them please

[saikishor]

Yes please

[kumar-sanjeeev]

@christophfroehlich hello, I have tried to resolve all pending comments except the one mentioned in parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp by @saikishor. I am not sure how to approach that one yet.

I have also rechecked all controllers for any get_value() and set_value() deprecation warnings - all of them should be covered (hopefully 🙂).

please let me know if I have missed or overlooked anything.

[christophfroehlich]

Thanks again! Some minor cleanups only, rest looks great!
let's see if @saikishor can specify what he meant with the parallel_gripper controller.

[kumar-sanjeeev]

Thanks again! Some minor cleanups only, rest looks great! let's see if @saikishor can specify what he meant with the parallel_gripper controller.

Thanks for quick review :) , implemented your suggestions.

[saikishor]

@kumar-sanjeeev Great work, just some nitpicks and some critical things but rest looks great

[saikishor]

LGTM

[kumar-sanjeeev]

@christophfroehlich, @saikishor, thank you both for reviewing this PR, and 🙌 @christophfroehlich for taking care code review suggestions from @saikishor.

[saikishor]

@christophfroehlich, @saikishor, thank you both for reviewing this PR, and 🙌 @christophfroehlich for taking care code review suggestions from @saikishor.

Thanks to you for all the efforts @kumar-sanjeeev :)