Update realtime containers

[christophfroehlich]

Apply changes from the guidelines added with ros-controls/realtime_tools#347

• I changed all Boxes to use the messages itself, instead of a smart pointer to it.
• Messages get pre-allocated and saved later for the case that any try_get fails in the RT thread
• I refactored the steering_controllers_lib a bit, to have the same timeout logic that the mecanum_controller has. This needed some updates of the tests, too.
• Apart from that, the behavior of all controllers should not change at all

[codecov]

Codecov Report

❌ Patch coverage is 87.24490% with 50 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.38%. Comparing base (4a42b1f) to head (1747c95).
⚠️ Report is 67 commits behind head on master.

Files with missing lines	Patch %	Lines
...roller/parallel_gripper_action_controller_impl.hpp	4.76%	20 Missing ⚠️
pid_controller/src/pid_controller.cpp	66.66%	8 Missing and 3 partials ⚠️
...llers_library/src/steering_controllers_library.cpp	78.12%	3 Missing and 4 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	83.33%	1 Missing and 3 partials ⚠️
gpio_controllers/src/gpio_command_controller.cpp	78.94%	2 Missing and 2 partials ⚠️
...ommand_controller/src/forward_controllers_base.cpp	87.50%	0 Missing and 2 partials ⚠️
...iff_drive_controller/src/diff_drive_controller.cpp	93.75%	0 Missing and 1 partial ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	97.05%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1721      +/-   ##
==========================================
- Coverage   86.47%   86.38%   -0.09%     
==========================================
  Files         123      123              
  Lines       12133    12240     +107     
  Branches     1008     1024      +16     
==========================================
+ Hits        10492    10574      +82     
- Misses       1335     1348      +13     
- Partials      306      318      +12     

Flag	Coverage Δ
unittests	86.38% <87.24%> (-0.09%)	⬇️

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

Files with missing lines	Coverage Δ
...roller/test/test_ackermann_steering_controller.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	94.58% <ø> (ø)
...ollers/test/test_joint_group_effort_controller.cpp	98.43% <100.00%> (ø)
...rd_command_controller/forward_controllers_base.hpp	100.00% <ø> (ø)
...ontroller/test/test_forward_command_controller.cpp	99.24% <100.00%> (-0.01%)	⬇️
...est_multi_interface_forward_command_controller.cpp	99.13% <100.00%> (-0.01%)	⬇️
..._controllers/test/test_gpio_command_controller.cpp	99.00% <100.00%> (ø)
...ller/include/mecanum_drive_controller/odometry.hpp	100.00% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
... and 15 more

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[mergify]

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

[mergify]

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

[mergify]

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

[saikishor]

LGTM

[saikishor]

May be we should check here with std::all_of that all of the data elements are finite values

[christophfroehlich]

This would be a behavior change right? maybe we can do that in a follow-up PR?