Add filtering capability to ft_broadcaster (backport #1814)

[mergify]

Good morning!

This is a continuation of #559 as it was inactive.

The changes are minimal:

1. Applied @saikishor suggestions

• Added sensor_filter_chain to the parameters, which serves as documentation.
• I removed all the logic about the additional frames. I agree with @saikishor that transforming to different frames should be handled by the user in their application. With this, no tf calls inside the RT are needed.
• No more publishing NaN if the update of the filter failed.

2. Added some relevant tests
   IMHO, the previous tests were testing the business logic of the filters themselves, that is, checking that the actual computations were correct, rather than the actual new logic for adding filters. I added three tests for configuring, activating/deactivating, and updating with a configured filter chain. Just one consideration: I changed a little bit the logic of SetUpFTSBroadcaster a little bit to accept a node name. This is because I added some parameters in the YAML that are needed for the broadcaster with filters. I cannot do set_parameter because the filter chain expects the parameters to be overrides.

Thanks a lot for your time!

Óscar

---

This is an automatic backport of pull request #1814 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   force_torque_sensor_broadcaster/CMakeLists.txt
	modified:   force_torque_sensor_broadcaster/doc/userdoc.rst
	modified:   force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
	modified:   force_torque_sensor_broadcaster/package.xml
	modified:   force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml
	new file:   force_torque_sensor_broadcaster/test/dummy_filter.cpp
	new file:   force_torque_sensor_broadcaster/test/dummy_filter_plugin.xml
	modified:   force_torque_sensor_broadcaster/test/force_torque_sensor_broadcaster_params.yaml
	modified:   force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
	modified:   force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst
	both modified:   force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.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

[codecov]

Codecov Report

❌ Patch coverage is 95.23810% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.57%. Comparing base (b9f3358) to head (9f829c0).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...roadcaster/src/force_torque_sensor_broadcaster.cpp	92.50%	3 Missing ⚠️
...ce_torque_sensor_broadcaster/test/dummy_filter.cpp	80.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #1927      +/-   ##
==========================================
+ Coverage   85.52%   85.57%   +0.04%     
==========================================
  Files         137      138       +1     
  Lines       13171    13231      +60     
  Branches     1143     1146       +3     
==========================================
+ Hits        11265    11322      +57     
- Misses       1544     1547       +3     
  Partials      362      362              

Flag	Coverage Δ
unittests	85.57% <95.23%> (+0.04%)	⬆️

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

Files with missing lines	Coverage Δ
...ster/test/test_force_torque_sensor_broadcaster.cpp	98.46% <100.00%> (+0.30%)	⬆️
...ce_torque_sensor_broadcaster/test/dummy_filter.cpp	80.00% <80.00%> (ø)
...roadcaster/src/force_torque_sensor_broadcaster.cpp	91.17% <92.50%> (+0.49%)	⬆️

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