Integrate pal_statistics for introspection of controllers, hardware components and more

[saikishor]

Added integration of pal_statistics into the ros2_control infrastructure

You can find more examples at ros-controls/ros2_control_demos#654

[codecov]

Codecov Report

Attention: Patch coverage is 76.66667% with 14 lines in your changes missing coverage. Please review.

Project coverage is 89.37%. Comparing base (675a7a9) to head (af69bf2).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...re_interface/include/hardware_interface/handle.hpp	18.75%	10 Missing and 3 partials ⚠️
hardware_interface/src/resource_manager.cpp	75.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1918      +/-   ##
==========================================
- Coverage   89.41%   89.37%   -0.05%     
==========================================
  Files         139      139              
  Lines       14937    14996      +59     
  Branches     1283     1291       +8     
==========================================
+ Hits        13356    13402      +46     
- Misses       1101     1112      +11     
- Partials      480      482       +2     

Flag	Coverage Δ
unittests	89.37% <76.66%> (-0.05%)	⬇️

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

Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	91.66% <ø> (ø)
...roller_interface/src/controller_interface_base.cpp	88.59% <100.00%> (+0.97%)	⬆️
controller_manager/src/controller_manager.cpp	76.41% <100.00%> (+0.04%)	⬆️
.../include/hardware_interface/actuator_interface.hpp	92.24% <100.00%> (+0.27%)	⬆️
...ce/include/hardware_interface/sensor_interface.hpp	95.65% <100.00%> (+0.26%)	⬆️
...ce/include/hardware_interface/system_interface.hpp	82.35% <100.00%> (+0.53%)	⬆️
hardware_interface/src/actuator.cpp	81.29% <100.00%> (+0.62%)	⬆️
hardware_interface/src/sensor.cpp	76.98% <100.00%> (+0.95%)	⬆️
hardware_interface/src/system.cpp	81.29% <100.00%> (+0.62%)	⬆️
hardware_interface/src/resource_manager.cpp	75.00% <75.00%> (ø)
... and 1 more

... and 1 file with indirect coverage changes

[christophfroehlich]

I could write an AI agent commenting on PRs 😆

• Please update the docs
• Please update the release_notes

[saikishor]

I could write an AI agent commenting on PRs 😆

• Please update the docs
• Please update the release_notes

Sure! Boss 😆😆

[mergify]

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

[christophfroehlich]

Thanks! I tested this successfully and discussed some details with Sai, just add some notes here:

• pal_statistics name/values pair is parsed by plotjuggler to be able to select the values by name without a custom message layout/no need for sending the names on a regular basis.

https://github.com/facontidavide/PlotJuggler/blob/b1ad0896844e848c2495e09a6e5c3548685adedd/plotjuggler_plugins/ParserROS/ros_parser.cpp#L81-L90

• statistics from [Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager #1871 will be added in a later PR.
• we have to fix clang so that it doesn't check system packages, maybe with this setup

I added some minor comments below.

[christophfroehlich]

Approving as we have fixed clang now.

[saikishor]

Approving as we have fixed clang now.

Thank you @christophfroehlich

[mergify]

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

[MarqRazz]

Thanks for detailed answers @saikishor, I think this looks like a great addition!

[saikishor]

Thanks for detailed answers @saikishor, I think this looks like a great addition!

Thanks to you for taking time and reviewing it

[saikishor]

Conflicts resolved! ;)

[saikishor]

@destogl Thanks for the review.

I've addressed all your comments in the PR.

[destogl]

Thanks for following up!

[destogl]

Great thanks!