fix(ros2controlcli): use lifecycle nomenclature and add finalized sta…

[shraavb]

Related to #688

Summary

Use ROS 2 lifecycle nomenclature consistently in the CLI and add the missing
finalized state to set_hardware_component_state.

Changes

set_controller_state.py

• Replace informal "cleanup"/"stopping" with lifecycle terms (unconfigured, deactivating)
• Improve help text to note that finalized is reached via unload_controller

set_hardware_component_state.py

• Add finalized to valid choices using State.PRIMARY_STATE_FINALIZED
• Fix if/if/if → if/elif/elif/elif for correct branch structure
• Replace "cleaning up"/"stopping" with lifecycle terms throughout

Note on finalized for controllers

The controller manager has no FinalizeController service, so controllers cannot
be directly transitioned to finalized via this command. Hardware components can,
since SetHardwareComponentState.srv accepts any lifecycle state by ID.

Checklist

• Limited scope — only touches CLI verb files for [ros2_control CLI] set_controller_state should support full lifecycle and use lifecycle nomenclature. #688
• Pipeline green (checking)
• Tests — these files have no existing unit tests (see Add tests for launch_utils of controller manager  #2147)

[christophfroehlich]

Thank you for submitting a PR.
The fixes of the if/elif branches and adding the finalized state are perfect, but I am not convinced from the rewording of the messages? I think this change is not needed.

I added a comment in the linked issue for clarification.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.36%. Comparing base (64b0963) to head (ae1474d).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3134      +/-   ##
==========================================
+ Coverage   89.32%   89.36%   +0.04%     
==========================================
  Files         158      158              
  Lines       19497    19497              
  Branches     1584     1584              
==========================================
+ Hits        17416    17424       +8     
+ Misses       1428     1422       -6     
+ Partials      653      651       -2     

Flag	Coverage Δ
unittests	89.36% <ø> (+0.04%)	⬆️

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[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[christophfroehlich]

Let's add the note here again, only the "valid choices" parts were redundant.

Note: the 'finalized' state is reached via the 'unload_controller' command.

[christophfroehlich]

Please readd the note again. As mentioned in #688 we also want to add the transition states to this CLI, so I disabled the auto-close of this issue. But let's merge this PR soon, and add the transition states in a second PR.