Support multiple hardware interfaces in the coordinator

[evan-palmer]

Changes Made

This PR adds support for activating/deactivating multiple hardware interfaces using the controller coordinator.

Associated Issues

• Fixes Support activating/deactivating multiple hardware interfaces from the coordinator #71

Testing

TBD

[Copilot]

Pull Request Overview

This PR enables the controller coordinator to support multiple hardware interfaces instead of being limited to a single interface. The main enhancement allows users to specify an ordered list of hardware interfaces that can be activated/deactivated sequentially through the coordinator service.

Key changes:

• Modified parameter configuration to accept multiple hardware interfaces via hardware_sequence array
• Updated the coordinator implementation to handle sequential activation/deactivation of multiple hardware interfaces
• Bumped package versions across all modules to 0.3.3

Reviewed Changes

Copilot reviewed 27 out of 27 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
controller_coordinator/src/coordinator_parameters.yaml	Changed parameter from single hardware_interface to hardware_sequence array
controller_coordinator/src/coordinator.hpp	Updated member variables to handle multiple hardware interface requests
controller_coordinator/src/coordinator.cpp	Implemented sequential processing of multiple hardware interfaces with proper error handling
end_effector_trajectory_controller/CHANGELOG.md	Fixed incorrect package name in changelog header
Multiple package.xml files	Version bump to 0.3.3 across all packages
Multiple CHANGELOG.md files	Added 0.3.3 release entries

[Copilot]

Sequential blocking calls to spin_until_future_complete may cause performance issues if there are many hardware interfaces. Consider implementing parallel activation with proper synchronization or adding timeout handling to prevent indefinite blocking.

Suggested change

	rclcpp::spin_until_future_complete(this->get_node_base_interface(), hardware_future);
	}
	futures.push_back(hardware_future.share());
	}
	for (auto & future : futures) {
	if (future.wait_for(std::chrono::seconds(10)) != std::future_status::ready) {
	RCLCPP_ERROR(this->get_logger(), "Timeout while waiting for hardware activation");
	response->success = false;
	response->message = "Timeout during hardware activation";
	}
	}

[Copilot]

Sequential blocking calls to spin_until_future_complete may cause performance issues if there are many hardware interfaces. Consider implementing parallel deactivation with proper synchronization or adding timeout handling to prevent indefinite blocking.

Suggested change

	rclcpp::spin_until_future_complete(this->get_node_base_interface(), hardware_future);
	}
	futures.push_back(hardware_future.share());
	}
	for (auto & future : futures) {
	if (future.wait_for(std::chrono::seconds(10)) != std::future_status::ready) {
	RCLCPP_ERROR(this->get_logger(), "Timeout while deactivating hardware interface");
	response->success = false;
	response->message = "Timeout while deactivating hardware interface";
	}
	}