Use the non-deprecated service fields for switching controllers

[saikishor]

Description

Hello!

This PR aims to start using the non-deprecated fields of the ros2_control service to switch the controllers. If the changes look good, can this be merged and tagged as well?. It's just there is no release of MoveIt2 in Humble since September 2023. Thank you

[sjahr]

@saikishor Thanks for the PR! Is that deprecation specific to humble? If not, please target main and we backport this PR automatically

[saikishor]

@saikishor Thanks for the PR! Is that deprecation specific to humble? If not, please target main and we backport this PR automatically

Hello @sjahr!

Thank you for your very rapid response. The main branch already has the changes. That's why I opened them for Humble. For instance, below are the changes in the main corresponding to the same file

moveit2/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

Lines 467 to 473 in bc07edf

	{ // resource is claimed
	if (std::find(request->deactivate_controllers.begin(), request->deactivate_controllers.end(),
	res->second) == request->deactivate_controllers.end())
	{
	request->deactivate_controllers.push_back(res->second); // add claiming controller to stop list
	}
	claimed_resources.left.erase(res->second); // remove claimed resources

[sjahr]

I see, thanks!

[saikishor]

Once this is merged! Can you consider releasing it as well?

[saikishor]

hello @sjahr !

Is there any plan to tag and release Humble branch soon?