Use new Command/State Interfaces API for tests

[saikishor]

Description

This is to migrate from the old API of the handles to the new one where is no more reference of the variables

Is this user-facing behavior change?

NO

Did you use Generative AI?

YES, for failing tests

Additional Information

TODOs

To send us a pull request, please:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[codecov]

Codecov Report

❌ Patch coverage is 95.74037% with 21 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.96%. Comparing base (c7b97ca) to head (23a91e0).
⚠️ Report is 4 commits behind head on master.

Files with missing lines	Patch %	Lines
...ntroller/test/test_trajectory_controller_utils.hpp	90.00%	6 Missing ⚠️
...ectory_controller/test/test_trajectory_actions.cpp	81.25%	3 Missing ⚠️
...clude/chained_filter_controller/chained_filter.hpp	0.00%	2 Missing ⚠️
...or_broadcaster/force_torque_sensor_broadcaster.hpp	0.00%	2 Missing ⚠️
.../imu_sensor_broadcaster/imu_sensor_broadcaster.hpp	0.00%	2 Missing ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	33.33%	1 Missing and 1 partial ⚠️
...llers_library/src/steering_controllers_library.cpp	0.00%	2 Missing ⚠️
...test/test_motion_primitives_forward_controller.cpp	0.00%	0 Missing and 1 partial ⚠️
...ive_controller/src/omni_wheel_drive_controller.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2476      +/-   ##
==========================================
+ Coverage   86.83%   86.96%   +0.13%     
==========================================
  Files         148      151       +3     
  Lines       16273    16529     +256     
  Branches     1368     1377       +9     
==========================================
+ Hits        14131    14375     +244     
- Misses       1635     1644       +9     
- Partials      507      510       +3     

Flag	Coverage Δ
unittests	86.96% <95.74%> (+0.13%)	⬆️

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.hpp	88.39% <100.00%> (ø)
...nce_controller/test/test_admittance_controller.cpp	100.00% <100.00%> (ø)
...nce_controller/test/test_admittance_controller.hpp	94.65% <100.00%> (ø)
...ntroller/test/test_bicycle_steering_controller.hpp	85.71% <100.00%> (ø)
...ned_filter_controller/test/test_chained_filter.cpp	98.38% <100.00%> (+0.05%)	⬆️
...ned_filter_controller/test/test_chained_filter.hpp	100.00% <ø> (ø)
...r_controller/test/test_multiple_chained_filter.cpp	98.18% <100.00%> (+0.14%)	⬆️
...r_controller/test/test_multiple_chained_filter.hpp	100.00% <ø> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	95.12% <100.00%> (+0.16%)	⬆️
...ster/test/test_force_torque_sensor_broadcaster.cpp	98.13% <100.00%> (+0.11%)	⬆️
... and 31 more

... and 2 files with indirect coverage changes

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[christophfroehlich]

Overall LGTM and mostly straight forward. Some comments, then good to be merged.

[christophfroehlich]

joint_command_values_ et.al can be constants now. Maybe we can cleanup the member variables of the test fixtures in a follow-up PR.

[christophfroehlich]

will this be a mandatory override? or why this change, this is exactly the default implementation in chainable_controller_interface.cpp

[christophfroehlich]

same

[christophfroehlich]

same

[christophfroehlich]

should we use std::ignore to have consistent style in this repo?