Fix integration test

[christophfroehlich]

I rewrote the tests using the idea from https://docs.ros.org/en/rolling/Tutorials/Intermediate/Testing/Integration.html

First idea:

This all did not help, but adding a timer re-sending the actual_joint_states did the job.

Fixes #21 #22 #23

2a6f1a8 fixes also #10

Then I realized that we don't even test if commands are received

Current idea:

• use topic_tools relay executable instead of custom python robot node, and mirror commands to states
• Adapt the example_position executable from gz_ros2_control_demos to test if the commands from the controllers are processed correctly

[codecov-commenter]

Codecov Report

❌ Patch coverage is 66.66667% with 35 lines in your changes missing coverage. Please review.
✅ Project coverage is 61.44%. Comparing base (378507e) to head (a904bd7).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ardware_interface/test/rrr/jtc_client_position.cpp	66.66%	29 Missing and 6 partials ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main      #42       +/-   ##
===========================================
+ Coverage   38.62%   61.44%   +22.82%     
===========================================
  Files           2        3        +1     
  Lines         145      249      +104     
  Branches       34       42        +8     
===========================================
+ Hits           56      153       +97     
+ Misses         80       75        -5     
- Partials        9       21       +12     

Flag	Coverage Δ
unittests	61.44% <66.66%> (+22.82%)	⬆️

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

Files with missing lines	Coverage Δ
...ardware_interface/test/rrr/jtc_client_position.cpp	66.66% <66.66%> (ø)

... and 1 file with indirect coverage changes

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[MarqRazz]

Thanks for fixing the test @christophfroehlich! Few small comments but otherwise looks good.

[JafarAbdi]

lgtm

Sorry haven't had time to look into PRs, life is busy 🫠. Hopefully will be better soon