Add controller node options args to be able to set controller specific node arguments

[saikishor]

A different approach of #1712

    robot_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["diffbot_base_controller", "--param-file", controller_config, "--controller-ros-args", '--ros-args -r /diffbot_base_controller/cmd_vel:=/cmd_vel'],
    )

Fixes: #1711
Fixes: #1714

[codecov]

Codecov Report

Attention: Patch coverage is 78.78788% with 7 lines in your changes missing coverage. Please review.

Project coverage is 87.58%. Comparing base (832602d) to head (1b4905f).

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	80.00%	1 Missing and 2 partials ⚠️
controller_manager/controller_manager/spawner.py	50.00%	1 Missing and 1 partial ⚠️
...r_manager/test/test_controller/test_controller.cpp	50.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1713      +/-   ##
==========================================
- Coverage   87.60%   87.58%   -0.03%     
==========================================
  Files         120      120              
  Lines       12224    12257      +33     
  Branches     1093     1098       +5     
==========================================
+ Hits        10709    10735      +26     
- Misses       1125     1129       +4     
- Partials      390      393       +3     

Flag	Coverage Δ
unittests	87.58% <78.78%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
controller_manager/test/test_spawner_unspawner.cpp	99.27% <100.00%> (+0.02%)	⬆️
controller_manager/controller_manager/spawner.py	71.09% <50.00%> (-0.69%)	⬇️
...r_manager/test/test_controller/test_controller.cpp	92.15% <50.00%> (-3.59%)	⬇️
controller_manager/src/controller_manager.cpp	77.97% <80.00%> (+0.02%)	⬆️

[mergify]

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

[christophfroehlich]

I like, but needs some tests for it and advertisement in the release notes. We could also think of deprecating the "old way" #1712

Tested successfully with ros-controls/ros2_control_demos#577

[saikishor]

Fix for compilation

[saikishor]

I like, but needs some tests for it and advertisement in the release notes. We could also think of deprecating the "old way" #1712

Tested successfully with ros-controls/ros2_control_demos#577

@christophfroehlich I've added the tests for this case and the release_notes.

Thank you!

[christophfroehlich]

thx

[mergify]

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

[mergify]

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

[saikishor]

@bmagyar the CI seems to be happy

[christophfroehlich]

I'll add example_interfaces to the debian image used for the CI.

[saikishor]

I'll add example_interfaces to the debian image used for the CI.

Thank you @christophfroehlich

[christophfroehlich]

LGTM (debian CI is happy now, too).

[mergify]

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