Add a generic chained_filter_controller

[ankurbodhe]

This PR migrates and enhances the chained_filter_controller originally implemented during the ROSCon 2024 control workshop. The controller enables chaining and filtering of state interfaces through a sequence of filters.

Changes introduced:

1. Ported chained_filter_controller from workshop reference implementation.
2. Developed unit tests covering:
   • Initialization and lifecycle behavior.
   • Filter configuration and chaining.
   • Correct propagation of state values through the filter stack.

[ankurbodhe]

@christophfroehlich I just made another commit to fix the issues in the workflow.. requesting you to approve to workflow

[saikishor]

@ankurbodhe can you fix the pre-commit jobs?

Is this ready for review?

[christophfroehlich]

Thank you for contribution!
In general, have a look at other packages in this repository to follow the (code) style, copyright claims etc.

Please address my comments and also fix the pre-commit failures as Sai already has mentioned.

[christophfroehlich]

@ankurbodhe can I help you to finish this PR? We also have to apply the changes of #1697 to the new CMakeLists.

[ankurbodhe]

@christophfroehlich Sorry had a hectic work schedule... my calendar just freed up and would be working on completing the PR.. will be working on this everyday now until completion.

[christophfroehlich]

no worries. don't hesitate to ask if there are any doubts how to proceed

[christophfroehlich]

@ankurbodhe please don't force-push to already reviewed PRs, it just makes subsequent reviews slow. There is no need for a clean history, as we squash PRs at the time of merging into the base branches.
Ping me again if it is ready for the next review round.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[codecov]

Codecov Report

❌ Patch coverage is 92.35294% with 13 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.07%. Comparing base (a01fd0b) to head (ecba738).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
chained_filter_controller/src/chained_filter.cpp	79.68%	9 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1634      +/-   ##
==========================================
+ Coverage   85.98%   86.07%   +0.08%     
==========================================
  Files         129      133       +4     
  Lines       13112    13282     +170     
  Branches     1144     1153       +9     
==========================================
+ Hits        11275    11432     +157     
- Misses       1469     1478       +9     
- Partials      368      372       +4     

Flag	Coverage Δ
unittests	86.07% <92.35%> (+0.08%)	⬆️

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

Files with missing lines	Coverage Δ
...ned_filter_controller/test/test_chained_filter.cpp	100.00% <100.00%> (ø)
...oller/test/test_load_chained_filter_controller.cpp	100.00% <100.00%> (ø)
...r_controller/test/test_multiple_chained_filter.cpp	100.00% <100.00%> (ø)
chained_filter_controller/src/chained_filter.cpp	79.68% <79.68%> (ø)

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[saikishor]

Just two things. Rest looks spot on

[saikishor]

So, this controller right now only works as a filter for state Interfaces?

[christophfroehlich]

I think so yes ;) Do you think this should be two different controllers, one for state and one for command interfaces? Or add another parameter list, and handle them in parallel?
If this does not need a change to the package or plugin name, I'd add a follow-up issue for that.

[saikishor]

Yes, we can create a follow-up issue for that. I think the same controller can be utilized for this by extending it with parameters etc

[saikishor]

LGTM

[saikishor]

Spot on!