Update API for realtime publisher (backport #1830)

[mergify]

ros-controls/realtime_tools#323

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

---

This is an automatic backport of pull request #1830 done by Mergify.

[mergify]

Cherry-pick of 3a13376 has failed:

On branch mergify/bp/jazzy/pr-1830
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 3a13376.
  (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:   admittance_controller/src/admittance_controller.cpp
	modified:   diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
	modified:   diff_drive_controller/src/diff_drive_controller.cpp
	modified:   force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
	modified:   gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
	modified:   gpio_controllers/src/gpio_command_controller.cpp
	modified:   gps_sensor_broadcaster/include/gps_sensor_broadcaster/gps_sensor_broadcaster.hpp
	modified:   gps_sensor_broadcaster/src/gps_sensor_broadcaster.cpp
	modified:   imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
	modified:   joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
	modified:   joint_state_broadcaster/src/joint_state_broadcaster.cpp
	modified:   joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
	modified:   joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
	modified:   mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
	modified:   mecanum_drive_controller/src/mecanum_drive_controller.cpp
	modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
	modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
	modified:   pid_controller/include/pid_controller/pid_controller.hpp
	modified:   pid_controller/src/pid_controller.cpp
	modified:   pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp
	modified:   range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp
	modified:   range_sensor_broadcaster/src/range_sensor_broadcaster.cpp
	modified:   steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
	modified:   tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
	modified:   tricycle_controller/src/tricycle_controller.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   admittance_controller/include/admittance_controller/admittance_controller.hpp
	both modified:   joint_trajectory_controller/src/joint_trajectory_controller.cpp
	both modified:   pose_broadcaster/src/pose_broadcaster.cpp
	both modified:   steering_controllers_library/src/steering_controllers_library.cpp

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 88.17204% with 33 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.68%. Comparing base (ee41ccd) to head (8ac5b5c).
⚠️ Report is 1 commits behind head on jazzy.

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	96.29%	0 Missing and 1 partial ⚠️
... and 3 more

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #1944      +/-   ##
==========================================
- Coverage   84.79%   84.68%   -0.11%     
==========================================
  Files         138      138              
  Lines       13484    13429      -55     
  Branches     1193     1197       +4     
==========================================
- Hits        11434    11373      -61     
+ Misses       1647     1643       -4     
- Partials      403      413      +10     

Flag	Coverage Δ
unittests	84.68% <88.17%> (-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	95.71% <ø> (ø)
...oint_state_broadcaster/joint_state_broadcaster.hpp	100.00% <ø> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp	96.93% <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	74.24% <75.00%> (-0.51%)	⬇️
...roadcaster/src/force_torque_sensor_broadcaster.cpp	89.76% <75.00%> (-1.42%)	⬇️
gpio_controllers/src/gpio_command_controller.cpp	83.51% <92.30%> (-0.64%)	⬇️
... and 10 more

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