Use new chainable controller exports API (backport #2350)

[mergify]

I've migrated the controllers to the new chainable controller export API, the older API needs to be deprecated soon.

Related to ros-controls/ros2_control#2988

---

This is an automatic backport of pull request #2350 done by Mergify.

[mergify]

Cherry-pick of 8ad7d35 has failed:

On branch mergify/bp/jazzy/pr-2350
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 8ad7d35.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
	modified:   ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
	modified:   admittance_controller/include/admittance_controller/admittance_controller.hpp
	modified:   admittance_controller/src/admittance_controller.cpp
	modified:   bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
	modified:   bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
	modified:   chained_filter_controller/include/chained_filter_controller/chained_filter.hpp
	modified:   chained_filter_controller/src/chained_filter.cpp
	modified:   chained_filter_controller/test/test_chained_filter.cpp
	modified:   chained_filter_controller/test/test_multiple_chained_filter.cpp
	modified:   diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
	modified:   diff_drive_controller/src/diff_drive_controller.cpp
	modified:   force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
	modified:   force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
	modified:   mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
	modified:   mecanum_drive_controller/src/mecanum_drive_controller.cpp
	modified:   omni_wheel_drive_controller/include/omni_wheel_drive_controller/omni_wheel_drive_controller.hpp
	modified:   omni_wheel_drive_controller/src/omni_wheel_drive_controller.cpp
	modified:   pid_controller/include/pid_controller/pid_controller.hpp
	modified:   pid_controller/test/test_pid_controller.hpp
	modified:   pid_controller/test/test_pid_controller_dual_interface.cpp
	modified:   steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
	modified:   steering_controllers_library/test/test_steering_controllers_library.hpp
	modified:   tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
	modified:   tricycle_steering_controller/test/test_tricycle_steering_controller.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   diff_drive_controller/test/test_diff_drive_controller.cpp
	both modified:   imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
	both modified:   imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
	both modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
	both modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
	both modified:   omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp
	both modified:   pid_controller/src/pid_controller.cpp
	both modified:   pid_controller/test/test_pid_controller.cpp
	both modified:   steering_controllers_library/src/steering_controllers_library.cpp
	both modified:   steering_controllers_library/test/test_steering_controllers_library.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 96.20758% with 19 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.11%. Comparing base (7d641e7) to head (5968603).

Files with missing lines	Patch %	Lines
...dmittance_controller/src/admittance_controller.cpp	83.72%	0 Missing and 7 partials ⚠️
pid_controller/src/pid_controller.cpp	88.33%	6 Missing and 1 partial ⚠️
...iff_drive_controller/src/diff_drive_controller.cpp	92.00%	1 Missing and 1 partial ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	97.14%	0 Missing and 1 partial ⚠️
...ive_controller/src/omni_wheel_drive_controller.cpp	96.87%	0 Missing and 1 partial ⚠️
...llers_library/src/steering_controllers_library.cpp	95.83%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2453      +/-   ##
==========================================
+ Coverage   86.03%   86.11%   +0.07%     
==========================================
  Files         158      158              
  Lines       15879    16003     +124     
  Branches     1398     1399       +1     
==========================================
+ Hits        13662    13781     +119     
- Misses       1715     1718       +3     
- Partials      502      504       +2     

Flag	Coverage Δ
unittests	86.11% <96.20%> (+0.07%)	⬆️

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)
...roller/test/test_ackermann_steering_controller.hpp	88.39% <100.00%> (+0.10%)	⬆️
...ntroller/test/test_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_bicycle_steering_controller.hpp	85.71% <100.00%> (ø)
chained_filter_controller/src/chained_filter.cpp	79.36% <100.00%> (-0.33%)	⬇️
...ned_filter_controller/test/test_chained_filter.cpp	98.27% <100.00%> (ø)
...r_controller/test/test_multiple_chained_filter.cpp	98.03% <100.00%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	94.41% <100.00%> (+0.04%)	⬆️
...roadcaster/src/force_torque_sensor_broadcaster.cpp	90.22% <100.00%> (+0.46%)	⬆️
..._controller/test/test_mecanum_drive_controller.cpp	98.56% <100.00%> (-0.11%)	⬇️
... and 15 more

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[christophfroehlich]

@saikishor same here