Fix all deprecation warnings

[sea-bass]

Lots of deprecation warnings... ros2_control maintainers have been busy / this repo has been in need of love.

Would appreciate some testing if possible by someone who has a robotiq, but hopefully "it just works" ™️

[codecov]

Codecov Report

❌ Patch coverage is 27.27273% with 8 lines in your changes missing coverage. Please review.
✅ Project coverage is 40.11%. Comparing base (743d20f) to head (7413732).
⚠️ Report is 27 commits behind head on main.

Files with missing lines	Patch %	Lines
..._controllers/src/robotiq_activation_controller.cpp	0.00%	6 Missing ⚠️
robotiq_driver/src/hardware_interface.cpp	60.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            main     #108       +/-   ##
==========================================
+ Coverage   0.00%   40.11%   +40.11%     
==========================================
  Files          5       20       +15     
  Lines        352      526      +174     
  Branches       0       33       +33     
==========================================
+ Hits           0      211      +211     
+ Misses       352      310       -42     
- Partials       0        5        +5     

Flag	Coverage Δ
unittests	40.11% <27.27%> (+40.11%)	⬆️

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[sea-bass]

@nbbrooks @christophfroehlich this seems to make CI green per the last PR

[christophfroehlich]

LGTM

[christophfroehlich]

or maybe not, see my comment

[christophfroehlich]

I'm not familiar with this code here, but should this really be has_value()?

Suggested change

	resp->success &= command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().has_value();
	if (resp->success &= command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().has_value()) {
	resp->success &= command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().value();
	}

This would have more similar logic to before.

[sea-bass]

So get_value() returns a double, I think this was being implicitly cast before which is why I changed it.

[sea-bass]

In fact, with some of the other changes in this PR using the value instead of a boolean expression causes a compilation error!

[christophfroehlich]

I see the problem with the cast, but get_optional.has_value() is not the same as get_value() before. (as I said, I don't know what info is actually in the interface).

[sea-bass]

fair point, I kept the old behavior and left a comment for someone who knows what's supposed to happen to maybe fix it later

[christophfroehlich]

I see that I opened already a PR to fix some deprecations, but I close #98 then