Add controller node options args to be able to set controller specific node arguments

[saikishor]

A different approach of #1712

    robot_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["diffbot_base_controller", "--param-file", controller_config, "--controller-ros-args", '--ros-args -r /diffbot_base_controller/cmd_vel:=/cmd_vel'],
    )

Fixes: #1711

[codecov]

Codecov Report

Attention: Patch coverage is 78.78788% with 7 lines in your changes missing coverage. Please review.

Project coverage is 86.72%. Comparing base (84e85f9) to head (d92deda).

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	80.00%	1 Missing and 2 partials ⚠️
controller_manager/controller_manager/spawner.py	50.00%	1 Missing and 1 partial ⚠️
...r_manager/test/test_controller/test_controller.cpp	50.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1713      +/-   ##
==========================================
- Coverage   86.79%   86.72%   -0.07%     
==========================================
  Files         116      116              
  Lines       10715    10749      +34     
  Branches      981      986       +5     
==========================================
+ Hits         9300     9322      +22     
- Misses       1062     1068       +6     
- Partials      353      359       +6     

Flag	Coverage Δ
unittests	86.72% <78.78%> (-0.07%)	⬇️

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

Files with missing lines	Coverage Δ
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
controller_manager/test/test_spawner_unspawner.cpp	99.22% <100.00%> (+0.03%)	⬆️
controller_manager/controller_manager/spawner.py	70.31% <50.00%> (-0.66%)	⬇️
...r_manager/test/test_controller/test_controller.cpp	91.48% <50.00%> (-3.86%)	⬇️
controller_manager/src/controller_manager.cpp	77.26% <80.00%> (-0.22%)	⬇️

... and 1 file with indirect coverage changes

[mergify]

This pull request is in conflict. Could you fix it @saikishor?

[christophfroehlich]

I like, but needs some tests for it and advertisement in the release notes. We could also think of deprecating the "old way" #1712

Tested successfully with ros-controls/ros2_control_demos#577

[saikishor]

Fix for compilation

[saikishor]

I like, but needs some tests for it and advertisement in the release notes. We could also think of deprecating the "old way" #1712

Tested successfully with ros-controls/ros2_control_demos#577

@christophfroehlich I've added the tests for this case and the release_notes.

Thank you!

[christophfroehlich]

thx