Fix the prepare_command_mode_switch behaviour when HW is INACTIVE

[saikishor]

This should fix the failing prepare_command_mode_switch method check when hardware goes to error

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 88.89%. Comparing base (6d695b3) to head (2a803af).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2347      +/-   ##
==========================================
- Coverage   88.90%   88.89%   -0.01%     
==========================================
  Files         148      148              
  Lines       16950    16972      +22     
  Branches     1448     1448              
==========================================
+ Hits        15069    15088      +19     
- Misses       1318     1320       +2     
- Partials      563      564       +1     

Flag	Coverage Δ
unittests	88.89% <100.00%> (-0.01%)	⬇️

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

Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	74.27% <ø> (-0.22%)	⬇️
hardware_interface/src/resource_manager.cpp	78.07% <100.00%> (+0.18%)	⬆️
...t/test_resource_manager_prepare_perform_switch.cpp	100.00% <100.00%> (ø)

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[MarqRazz]

This looks much better as the controller_manger deactivates hardware when it returns ERROR thanks for fixing it @saikishor.

As discussed are we going to make the changes here to not allow hardware in the INACTIVE state to activate command interfaces? This ability does not make sense in the INACTIVE state and goes against the changes made in #2334 where returning DEACTIVATE stops any controllers with command interfaces to the DEACTIVATing hardware.

[MarqRazz]

Thanks for fixing these issues @saikishor,! 🥇

I tested this on my hardware and can no longer activate the JTC while the hardware is INACTIVE.

[taskset-1] [controller_manager 1751465055.104089577]: Activating controllers: [ right_arm_jtc ]
[taskset-1] [controller_manager 1751465055.104233459]: Component 'right_arm_Hardware' is in INACTIVE state, but has start interfaces to switch: 
[taskset-1] Start interfaces: 
[taskset-1] [
[taskset-1]   right_arm_joint_1/velocity
[taskset-1]   right_arm_joint_2/velocity
[taskset-1]   right_arm_joint_3/velocity
[taskset-1]   right_arm_joint_4/velocity
[taskset-1]   right_arm_joint_5/velocity
[taskset-1]   right_arm_joint_6/velocity
[taskset-1] ]
[taskset-1] Stop interfaces: 
[taskset-1] [
[taskset-1] ]
[taskset-1] 
[taskset-1] [controller_manager 1751465055.104255917]: Could not switch controllers since prepare command mode switch was rejected.

[saikishor]

@MarqRazz thanks a lot for taking time and testing things :)