refactor SwitchParams to fix the incosistencies in the spawner tests (backport #1638)

[mergify]

This PR aims to fix the inconsistencies that are observed with the spawner_unspawner tests and could be reproducible at higher frequencies as well. It seems to be that due to the wall_timer etc the manager_switch was trigger twice and causing the crashes, and upon checking there are missing guards and mutexes to protect this context.

The changes are also tested on the real hardware! :)

The following failures are caused with the current setup and is solved with the changes proposed in this PR:

1: [WARN] [1722085254.107041328] [spawner_ctrl_1]: Controller already loaded, skipping load_controller
1: [INFO] [1722085254.107959063] [test_controller_manager]: Configuring controller 'ctrl_1'
1: [WARN] [1722085254.125499381] [rcl_lifecycle]: No transition matching 3 found for current state activating
1: [ERROR] [1722085254.125529455] [ctrl_1]: Unable to start transition 3 from current state activating: Transition is not registered., at ./src/rcl_lifecycle.c:355
1: [ERROR] [1722085254.125577475] [test_controller_manager]: After activation, controller 'ctrl_1' is in state 'activating' (13), expected 'active' (3).
1: [INFO] [1722085254.136365765] [spawner_ctrl_1]: Configured and activated ctrl_1
1: [INFO] [1722085254.308361830] [test_controller_manager]: Loading controller 'ctrl_1'

1: [INFO] [1721556773.163766473] [test_controller_manager]: Configuring controller 'ctrl_3'
1: terminate called after throwing an instance of 'std::runtime_error'
1:   what():  Can not get command interface configuration until the controller is configured. The current state is : activating and ID : 13 and ACTIVE is : 3 and INACTIVE IS : 2
1: Stack trace (most recent call last) in thread 112351:

1: [INFO] [1721560930.460608458] [test_controller_manager]: Configuring controller 'ctrl_3'
1: [WARN] [1721560930.479481009] [rcl_lifecycle]: No transition matching 3 found for current state activating
1: [ERROR] [1721560930.479493504] [ctrl_1]: Unable to start transition 3 from current state activating: Transition is not registered., at ./src/rcl_lifecycle.c:355
1: [ERROR] [1721560930.479538729] [test_controller_manager]: After activation, controller 'ctrl_1' is in state 'activating' (13), expected 'active' (3).
1: terminate called after throwing an instance of 'std::runtime_error'
1:   what():  Can not get command interface configuration until the controller is configured. The current state is : activating and ID : 13 and ACTIVE is : 3 and INACTIVE IS : 2
1: Stack trace (most recent call last) in thread 227964:
1: #21   Object "", at 0xffffffffffffffff, in 
1: [INFO] [1721560930.490672863] [spawner_ctrl_1]: Configured and activated all the parsed controllers list!
1: #20   Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7fe73cdf584f]

1: [INFO] [1721716958.916360995] [test_controller_manager]: Loading controller 'ctrl_1'
1: [INFO] [1721716958.935490861] [spawner_ctrl_1]: Loaded ctrl_1
1: [INFO] [1721716958.936473516] [test_controller_manager]: Configuring controller 'ctrl_1'
1: [INFO] [1721716958.943142165] [spawner_ctrl_1]: Configured ctrl_1 successfully
1: [INFO] [1721716958.943535316] [spawner_ctrl_1]: Activating ctrl_1
1: [INFO] [1721716958.944450162] [test_controller_manager]: Found controller 'ctrl_1' that needs to be activateed in list of controllers. Adding to the list!
1: [INFO] [1721716958.952596909] [test_controller_manager]: Entering manager switch and before activate controllers. 3720000000
1: [INFO] [1721716958.952633229] [test_controller_manager]: Entering manager switch and before activate controllers. 3720000000
1: [INFO] [1721716958.952635535] [test_controller_manager]: Activating controllers: ctrl_1, 
1: [INFO] [1721716958.952672064] [test_controller_manager]: Activating controllers: ctrl_1, 
1: [INFO] [1721716958.952687694] [test_controller_manager]: Activating controller 'ctrl_1' with current state : inactive
1: [INFO] [1721716958.952703837] [test_controller_manager]: Activating controller 'ctrl_1' with current state : inactive
1: [INFO] [1721716958.952738683] [test_controller_manager]: Switching done : 0 at 3720000000
1: [ERROR] [1721716958.952773682] [test_controller_manager]: Could not extract state interfaces for controller 'ctrl_1': Can not get state interface configuration until the controller is configured. The current state is : activating and ID : 13 and ACTIVE is : 3 and INACTIVE IS : 2
1: terminate called after throwing an instance of 'std::runtime_error'
1:   what():  Can not get state interface configuration until the controller is configured. The current state is : activating and ID : 13 and ACTIVE is : 3 and INACTIVE IS : 2
1: [INFO] [1721716958.952890889] [test_controller_manager]: Successfully switched controllers. Activated: ctrl_1, 
1: Stack trace (most recent call last) in thread 60496:
1: #20   Object "", at 0xffffffffffffffff, in 
1: [INFO] [1721716958.963346793] [spawner_ctrl_1]: Configured and activated ctrl_1
1: [INFO] [1721716958.964605158] [test_controller_manager]: Loading controller 'ctrl_3'
1: [INFO] [1721716958.973829860] [spawner_ctrl_1]: Loaded ctrl_3

Fixes: #1637
Fixes: #1368
Fixes: #1647
Fixes: #1657
Fixes: #1644
Fixes: ros-controls/ros2_control_ci#105
Fixes: ros-controls/ros2_control_ci#106
Fixes: ros-controls/ros2_control_ci#107
Fixes: ros-controls/ros2_control_ci#108

---

This is an automatic backport of pull request #1638 done by [Mergify](https://mergify.com).

[mergify]

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Changes to be committed:
	modified:   controller_manager/include/controller_manager/controller_manager.hpp
	modified:   controller_manager/test/test_controller_manager_srvs.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/src/controller_manager.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[christophfroehlich]

this breaks ABI of an internal class, so this should not be a big deal?

[codecov]

Codecov Report

Attention: Patch coverage is 85.18519% with 4 lines in your changes missing coverage. Please review.

Project coverage is 87.46%. Comparing base (ae2ed7c) to head (eb7303d).
Report is 15 commits behind head on iron.

Files	Patch %	Lines
controller_manager/src/controller_manager.cpp	75.00%	2 Missing and 2 partials ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             iron    #1660   +/-   ##
=======================================
  Coverage   87.45%   87.46%           
=======================================
  Files         101      101           
  Lines        8078     8099   +21     
  Branches      711      712    +1     
=======================================
+ Hits         7065     7084   +19     
- Misses        717      719    +2     
  Partials      296      296           

Flag	Coverage Δ
unittests	87.46% <85.18%> (+<0.01%)	⬆️

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

Files	Coverage Δ
.../include/controller_manager/controller_manager.hpp	42.42% <100.00%> (+10.28%)	⬆️
...ller_manager/test/test_controller_manager_srvs.cpp	99.17% <100.00%> (+<0.01%)	⬆️
controller_manager/src/controller_manager.cpp	75.97% <75.00%> (+0.11%)	⬆️

[bmagyar]

looks good