Update API for realtime publisher

[christophfroehlich]

ros-controls/realtime_tools#323

admittance controller didn't use the try_lock in the RT loop btw.

[codecov]

Codecov Report

❌ Patch coverage is 88.21429% with 33 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.15%. Comparing base (be8092a) to head (cba002e).
⚠️ Report is 2 commits behind head on master.

Files with missing lines	Patch %	Lines
...iff_drive_controller/src/diff_drive_controller.cpp	62.50%	8 Missing and 1 partial ⚠️
tricycle_controller/src/tricycle_controller.cpp	62.50%	8 Missing and 1 partial ⚠️
...llers_library/src/steering_controllers_library.cpp	92.10%	1 Missing and 2 partials ⚠️
..._state_broadcaster/src/joint_state_broadcaster.cpp	93.54%	0 Missing and 2 partials ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	94.59%	0 Missing and 2 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	75.00%	0 Missing and 1 partial ⚠️
...roadcaster/src/force_torque_sensor_broadcaster.cpp	75.00%	0 Missing and 1 partial ⚠️
gpio_controllers/src/gpio_command_controller.cpp	92.30%	0 Missing and 1 partial ⚠️
..._sensor_broadcaster/src/gps_sensor_broadcaster.cpp	87.50%	0 Missing and 1 partial ⚠️
...ory_controller/src/joint_trajectory_controller.cpp	96.42%	0 Missing and 1 partial ⚠️
... and 3 more

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1830      +/-   ##
==========================================
- Coverage   85.25%   85.15%   -0.11%     
==========================================
  Files         143      143              
  Lines       13819    13763      -56     
  Branches     1197     1200       +3     
==========================================
- Hits        11782    11720      -62     
+ Misses       1639     1636       -3     
- Partials      398      407       +9     

Flag	Coverage Δ
unittests	85.15% <88.21%> (-0.11%)	⬇️

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

Files with missing lines	Coverage Δ
...r_broadcaster/test/test_imu_sensor_broadcaster.cpp	97.00% <ø> (ø)
...oint_state_broadcaster/joint_state_broadcaster.hpp	100.00% <ø> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp	97.08% <100.00%> (ø)
...jectory_controller/joint_trajectory_controller.hpp	50.00% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
..._controller/test/test_mecanum_drive_controller.hpp	86.66% <ø> (-0.29%)	⬇️
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
...dmittance_controller/src/admittance_controller.cpp	74.55% <75.00%> (-0.54%)	⬇️
...roadcaster/src/force_torque_sensor_broadcaster.cpp	89.68% <75.00%> (-1.43%)	⬇️
gpio_controllers/src/gpio_command_controller.cpp	83.51% <92.30%> (-0.64%)	⬇️
... and 10 more

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[saikishor]

Looks super good to me. We should definitely backport this