Fix spam of logs on failed hardware component initialization

[saikishor]

When the hardware component fails, it continues to stay in the UNKNOWN lifecycle state, if the state is other than the UNCONFIGURED or FINALIZED the return_type is ERROR as default and then replaced by the outcome from read and write method. So, returning ERROR, makes it continuously spam with the following logs

ros2_control/controller_manager/src/controller_manager.cpp

Lines 2178 to 2181 in 8f7374f

	RCLCPP_ERROR(
	get_logger(),
	"Deactivating following hardware components as their read cycle resulted in an error: [ %s]",
	failed_hardware_string.c_str());

ros2_control/controller_manager/src/controller_manager.cpp

Lines 2359 to 2363 in 8f7374f

	RCLCPP_ERROR(
	get_logger(),
	"Deactivating following hardware components as their write cycle resulted in an error: [ "
	"%s]",
	failed_hardware_string.c_str());

[ros2_control_node-2] [INFO] [1724675998.045345227] [controller_manager.resource_manager]: Loaded hardware 'ros2_control_tiago_system' from plugin 'robot_control/RobotControl'
[ros2_control_node-2] [INFO] [1724675998.045399502] [controller_manager.resource_manager]: Initialize hardware 'ros2_control_tiago_system' 
[ros2_control_node-2] [ERROR] [1724675999.154326093] [controller_manager.resource_manager]: Exception occurred while initializing hardware 'ros2_control_tiago_system': std::bad_alloc
[ros2_control_node-2] [WARN] [1724675999.158483059] [controller_manager.resource_manager]: System hardware component 'ros2_control_tiago_system' from plugin 'robot_control/RobotControl' failed to initialize.
[ros2_control_node-2] [ERROR] [1724675999.162434111] [controller_manager]: Deactivating following hardware components as their read cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.162489926] [controller_manager]: Deactivating following hardware components as their write cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.172426457] [controller_manager]: Deactivating following hardware components as their read cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.172483207] [controller_manager]: Deactivating following hardware components as their write cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.182431039] [controller_manager]: Deactivating following hardware components as their read cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.182491207] [controller_manager]: Deactivating following hardware components as their write cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.192426473] [controller_manager]: Deactivating following hardware components as their read cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.192488350] [controller_manager]: Deactivating following hardware components as their write cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.202426093] [controller_manager]: Deactivating following hardware components as their read cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.202480027] [controller_manager]: Deactivating following hardware components as their write cycle resulted in an error: [ ros2_control_tiago_system ]
[ros2_control_node-2] [ERROR] [1724675999.212425084] [controller_manager]: Deactivating following hardware components as their read cycle resulted in an error: [ ros2_control_tiago_system ]

This PR proposes fix for the above issue

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 86.75%. Comparing base (d200408) to head (80126ab).
Report is 3 commits behind head on master.

Files with missing lines	Patch %	Lines
hardware_interface/src/actuator.cpp	0.00%	0 Missing and 2 partials ⚠️
hardware_interface/src/system.cpp	0.00%	0 Missing and 2 partials ⚠️
hardware_interface/src/sensor.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1719      +/-   ##
==========================================
- Coverage   86.78%   86.75%   -0.04%     
==========================================
  Files         116      116              
  Lines       10693    10682      -11     
  Branches      978      983       +5     
==========================================
- Hits         9280     9267      -13     
+ Misses       1061     1059       -2     
- Partials      352      356       +4     

Flag	Coverage Δ
unittests	86.75% <0.00%> (-0.04%)	⬇️

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

Files with missing lines	Coverage Δ
hardware_interface/src/sensor.cpp	69.36% <0.00%> (-1.43%)	⬇️
hardware_interface/src/actuator.cpp	70.99% <0.00%> (-2.35%)	⬇️
hardware_interface/src/system.cpp	70.99% <0.00%> (-2.35%)	⬇️

... and 1 file with indirect coverage changes

[aprotyas]

Might be a good idea to roll this into a method.

constexpr bool lifecycleStateRequiresNoAction(const lifecycle_msgs::msg::State::_id_type state)
{
    return state == lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN ||
           state == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
           state == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED;
}

if (lifecycleStateRequiresNoAction(impl_->get_lifecycle_state().id()))
    return return_type::OK;

[saikishor]

Sure. I like the idea

[saikishor]

Done

[bmagyar]

thank you!