[CM] Remove accepting robot description using parameter and harden the behavior when getting it from topic.

[destogl]

#1218 should go before this PR.

Should I split this into multiple PRs? There is a bit of a mix now with small code restructurings, renaming and similar.

[mergify[bot]]

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

[codecov[bot]]

Codecov Report

Attention: 38 lines in your changes are missing coverage. Please review.

Comparison is base (25aa5d3) 47.53% compared to head (62a3692) 47.66%. Report is 2 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1237      +/-   ##
==========================================
+ Coverage   47.53%   47.66%   +0.13%     
==========================================
  Files          41       41              
  Lines        3547     3539       -8     
  Branches     1930     1914      -16     
==========================================
+ Hits         1686     1687       +1     
+ Misses        459      449      -10     
- Partials     1402     1403       +1     

Flag	Coverage Δ
unittests	47.66% <36.66%> (+0.13%)	:arrow_up:

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

Files	Coverage Δ
.../include/controller_manager/controller_manager.hpp	18.18% <ø> (ø)
hardware_interface/src/resource_manager.cpp	48.54% <50.00%> (-0.29%)	:arrow_down:
controller_manager/src/controller_manager.cpp	39.29% <30.95%> (+0.47%)	:arrow_up:

[mergify[bot]]

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

[mergify[bot]]

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

[christophfroehlich]

The last PR was merged yesterday, I think this can be closed.