Add cli interface

[v-lopez]

Added command line interface for controller manager

Missing unit tests, waiting until we have a controller manager node or something similar like what is proposed on #147 or I could do them with mock services.

Implemented verbs:

list

$ ros2 control list -h
usage: ros2 control list [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Output the list of loaded controllers, their type and status

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

$ ros2 control list 
test_controller_name[test_controller]    active 

list_types

$ ros2 control list_types -h
usage: ros2 control list_types [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Output the available controller types and their base classes

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

$ ros2 control list_types 
diff_drive_controller/DiffDriveController                              controller_interface::ControllerInterface
joint_state_controller/JointStateController                            controller_interface::ControllerInterface
joint_trajectory_controller/JointTrajectoryController                  controller_interface::ControllerInterface
test_controller      

load

$ ros2 control load -h
usage: ros2 control load [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name

Load a controller in a controller manager

positional arguments:
  controller_name       Name of the controller

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

reload_libraries

$ ros2 control reload_libraries -h
usage: ros2 control reload_libraries [-h] [--spin-time SPIN_TIME] [--force-kill] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Reload controller libraries

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  --force-kill          Force stop of loaded controllers
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

switch

$ ros2 control switch -h
usage: ros2 control switch [-h] [--spin-time SPIN_TIME] [--no-daemon] [--stop-controllers [STOP_CONTROLLERS [STOP_CONTROLLERS ...]]]
                           [--start-controllers [START_CONTROLLERS [START_CONTROLLERS ...]]] [--strict] [--start-asap]
                           [--switch-timeout SWITCH_TIMEOUT] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Switch controllers in a controller manager

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  --stop-controllers [STOP_CONTROLLERS [STOP_CONTROLLERS ...]]
                        Name of the controllers to be stopped
  --start-controllers [START_CONTROLLERS [START_CONTROLLERS ...]]
                        Name of the controllers to be started
  --strict              Strict switch
  --start-asap          Start asap controllers
  --switch-timeout SWITCH_TIMEOUT
                        Timeout for switching controllers
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

unload

$ ros2 control unload -h
usage: ros2 control unload [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name

Unload a controller in a controller manager

positional arguments:
  controller_name       Name of the controller

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

[destogl]

It looks good.

I have a few comments, but nothing ground-braking :)

Are these python test files really needed? It looks like a lot of copy-paste action across many repositories (@Karsten1987 )?

[bmagyar]

Let's get the CI green

[codecov-io]

Codecov Report

Merging #176 (061f525) into master (c47791a) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master     #176   +/-   ##
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  Coverage   34.61%   34.61%           
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  Files          52       52           
  Lines        2981     2981           
  Branches     1855     1855           
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  Hits         1032     1032           
  Misses        310      310           
  Partials     1639     1639           

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