Add parameter to allow controllers with inactive hardware components

[saikishor]

Gives #2484 a possibility to fix with a parameter

In the 27th August, 2025 PMC meeting, it has been decided to maintain the current behavior, but have an way to the old behavior using a controller_manager parameter. As the main fix is regarding the safety concerns, multiple attendees agreed to keep the behavior, but add a parameter to opt-out of it

[codecov]

Codecov Report

❌ Patch coverage is 98.38710% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 89.42%. Comparing base (ff52562) to head (2e83f67).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	93.75%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2501      +/-   ##
==========================================
+ Coverage   89.32%   89.42%   +0.10%     
==========================================
  Files         147      147              
  Lines       16589    16637      +48     
  Branches     1396     1400       +4     
==========================================
+ Hits        14818    14878      +60     
+ Misses       1234     1220      -14     
- Partials      537      539       +2     

Flag	Coverage Δ
unittests	89.42% <98.38%> (+0.10%)	⬆️

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	76.19% <100.00%> (+0.77%)	⬆️
...rdware_interface/types/resource_manager_params.hpp	100.00% <ø> (ø)
...t/test_resource_manager_prepare_perform_switch.cpp	100.00% <100.00%> (ø)
hardware_interface/src/resource_manager.cpp	78.71% <93.75%> (-0.07%)	⬇️

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[MarqRazz]

Thanks for the quick turn around @saikishor! I will try to test it out on my hardware when I get a chance.

Do we want to add any deprecation warnings to this or are we going to support this feature going forward?

[saikishor]

Thanks for the quick turn around @saikishor! I will try to test it out on my hardware when I get a chance.

Do we want to add any deprecation warnings to this or are we going to support this feature going forward?

@MarqRazz yes, there will be a warning printed that it is not the recommended way to do it.

Regarding the deprecation warning, I think we should do it once we have the configuration interfaces ready as it is the point when we will start to drop support to this. As we don't want to remove everything in a single release version. What do you think?

[MarqRazz]

Two small suggestions.

[saikishor]

@christophfroehlich how does it look now?

[christophfroehlich]

LGTM

[bmagyar]

just a few docs touchups