Fix the blocking calls of lifecycle_state in the real-time loop (backport #2884)

[mergify]

Hello!

I've observed a lot of blocking time of the RT loop due to the calls of the lifecycle state and this PR comes up with a way to cache them locally and use them.

With the current master's version:

RRBot

TALOS

With the proposed changes:

RRBot

TALOS

---

This is an automatic backport of pull request #2884 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of dca9b57 has failed:

On branch mergify/bp/kilted/pr-2884
Your branch is up to date with 'origin/kilted'.

You are currently cherry-picking commit dca9b57.
  (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:   controller_interface/include/controller_interface/controller_interface_base.hpp
	modified:   controller_interface/src/chainable_controller_interface.cpp
	modified:   controller_interface/src/controller_interface_base.cpp
	modified:   controller_interface/test/test_controller_interface.cpp
	modified:   controller_manager/doc/userdoc.rst
	modified:   controller_manager/src/controller_manager.cpp
	modified:   controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
	modified:   controller_manager/test/test_controller/test_controller.cpp
	modified:   controller_manager/test/test_controller_manager_urdf_passing.cpp
	modified:   hardware_interface/include/hardware_interface/hardware_component.hpp
	modified:   hardware_interface/include/hardware_interface/hardware_component_interface.hpp
	modified:   hardware_interface/src/hardware_component.cpp
	modified:   hardware_interface/src/resource_manager.cpp
	modified:   hardware_interface/test/test_component_interfaces.cpp
	modified:   hardware_interface_testing/test/test_components/test_actuator_exclusive_interfaces.cpp
	modified:   hardware_interface_testing/test/test_components/test_system.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst

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 84.21053% with 18 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.36%. Comparing base (3ec8e4f) to head (2d5add8).
⚠️ Report is 3 commits behind head on kilted.

Files with missing lines	Patch %	Lines
..._components/test_actuator_exclusive_interfaces.cpp	54.54%	4 Missing and 1 partial ⚠️
hardware_interface/src/hardware_component.cpp	69.23%	0 Missing and 4 partials ⚠️
...chainable_controller/test_chainable_controller.cpp	81.25%	2 Missing and 1 partial ⚠️
...r_manager/test/test_controller/test_controller.cpp	75.00%	2 Missing and 1 partial ⚠️
...rface_testing/test/test_components/test_system.cpp	66.66%	2 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           kilted    #2891      +/-   ##
==========================================
- Coverage   89.37%   89.36%   -0.02%     
==========================================
  Files         155      155              
  Lines       18153    18218      +65     
  Branches     1478     1483       +5     
==========================================
+ Hits        16224    16280      +56     
- Misses       1337     1345       +8     
- Partials      592      593       +1     

Flag	Coverage Δ
unittests	89.36% <84.21%> (-0.02%)	⬇️

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

Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	91.66% <ø> (ø)
...r_interface/src/chainable_controller_interface.cpp	58.65% <100.00%> (ø)
...roller_interface/src/controller_interface_base.cpp	84.21% <100.00%> (+2.17%)	⬆️
...oller_interface/test/test_controller_interface.cpp	100.00% <ø> (ø)
controller_manager/src/controller_manager.cpp	77.30% <100.00%> (+0.15%)	⬆️
...ager/test/test_controller_manager_urdf_passing.cpp	100.00% <ø> (ø)
.../include/hardware_interface/hardware_component.hpp	100.00% <ø> (ø)
...ardware_interface/hardware_component_interface.hpp	75.26% <100.00%> (+0.08%)	⬆️
hardware_interface/src/resource_manager.cpp	78.10% <100.00%> (-0.06%)	⬇️
...dware_interface/test/test_component_interfaces.cpp	97.88% <ø> (ø)
... and 5 more

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[christophfroehlich]

Merging despite the ABI break, because this fixes a serious performance issue.