Added view_hardware_status ros2cli verb

[soham2560]

Brief

In #2476 we added our changes to allow Hardware Interfaces to publish HardwareStatus messages with a default publisher. This PR adds a CLI verb to help users access those statuses easily using

ros2 control view_hardware_status -i <hardware_component> -d <device>

How was this tested?

• Launch new Example 17 Demo (to be merged at Update Example 17 to also showcase new HardwareStatus Publisher ros2_control_demos#887)

ros2 launch ros2_control_demo_example_17 rrbot.launch.xml

---

- Echo all messages on */hardware_status topics with control_msgs/msg/hardware_status type

ros2 control view_hardware_status

Output

---

- Filter with -i <hardware_component>

ros2 control view_hardware_status -i RRBot

Output

---

- Filter with -d <device_name>

ros2 control view_hardware_status -i RRBot -d joint1

Output

[codecov]

Codecov Report

❌ Patch coverage is 5.26316% with 36 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.00%. Comparing base (e3e8b9e) to head (1f326f1).

Files with missing lines	Patch %	Lines
...ardware_interface/hardware_component_interface.hpp	5.26%	34 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2495      +/-   ##
==========================================
- Coverage   89.21%   89.00%   -0.22%     
==========================================
  Files         144      144              
  Lines       16334    16374      +40     
  Branches     1393     1397       +4     
==========================================
  Hits        14573    14573              
- Misses       1225     1262      +37     
- Partials      536      539       +3     

Flag	Coverage Δ
unittests	89.00% <5.26%> (-0.22%)	⬇️

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

Files with missing lines	Coverage Δ
...ardware_interface/hardware_component_interface.hpp	74.04% <5.26%> (-12.06%)	⬇️

... and 1 file with indirect coverage changes

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[bmagyar]

@soham2560 could you please update the OP with some example outputs?

[soham2560]

@bmagyar done