[Handle] Add support for booleans in the handles

[saikishor]

This PR aims to add support for boolean types in the Handle using the internal variant. The data_type is selected using the InterfaceInfo information.

[codecov]

Codecov Report

Attention: Patch coverage is 80.32787% with 12 lines in your changes missing coverage. Please review.

Project coverage is 89.52%. Comparing base (bfbedd2) to head (9ed5294).

Files with missing lines	Patch %	Lines
...re_interface/include/hardware_interface/handle.hpp	83.78%	5 Missing and 1 partial ⚠️
...rface/include/hardware_interface/hardware_info.hpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2065      +/-   ##
==========================================
- Coverage   89.59%   89.52%   -0.07%     
==========================================
  Files         139      139              
  Lines       15222    15275      +53     
  Branches     1290     1292       +2     
==========================================
+ Hits        13638    13675      +37     
- Misses       1096     1109      +13     
- Partials      488      491       +3     

Flag	Coverage Δ
unittests	89.52% <80.32%> (-0.07%)	⬇️

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

Files with missing lines	Coverage Δ
...ace/include/semantic_components/led_rgb_device.hpp	92.30% <100.00%> (ø)
hardware_interface/test/test_handle.cpp	100.00% <100.00%> (ø)
...e_interface_testing/test/test_resource_manager.cpp	99.48% <ø> (ø)
...re_interface/include/hardware_interface/handle.hpp	83.96% <83.78%> (-0.04%)	⬇️
...rface/include/hardware_interface/hardware_info.hpp	53.84% <0.00%> (-46.16%)	⬇️

... and 2 files with indirect coverage changes

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[christophfroehlich]

this looks very nice! Is this ready to be used by hardware components now? how?

[saikishor]

this looks very nice! Is this ready to be used by hardware components now? how?

@christophfroehlich Yes, it is ready to be used. When you export interfaces from your hardware, just create an Interface with the InterfaceDescription like in one of the example, and it is good to go.

However, the following Hardware component API needs to be refined. I added the discussion to the next WG meeting. If you can access the interface, then you should be able to set the data and retrieve the data.

ros2_control/hardware_interface/include/hardware_interface/system_interface.hpp

Lines 517 to 535 in 201d3a7

	void set_state(const std::string & interface_name, const double & value)
	{
	system_states_.at(interface_name)->set_value(value);
	}
	double get_state(const std::string & interface_name) const
	{
	return system_states_.at(interface_name)->get_value();
	}
	void set_command(const std::string & interface_name, const double & value)
	{
	system_commands_.at(interface_name)->set_value(value);
	}
	double get_command(const std::string & interface_name) const
	{
	return system_commands_.at(interface_name)->get_value();
	}