[Interfaces] Make functionality of `get_name()` method clear.

[destogl]

Background

In hardware_interface/handle.hpp file we have three ways to get name of the interface, joint and full name. The naming of methods is a bit confusing:

• get_name() - returns "joint" name
• get_interface_name() - return interface name (OK)
• get_full_name() - returns full name of the interfaces <joint_name>/<interface_name>

I find this a bit confusing and propose the following change:

• get_name - returns full name of the interfaces <joint_name>/<interface_name>
• get_prefix_name - returns "joint" name (better is to call this prefix instead of joint)

Tasks:

• [ ] update functionality in handle.hpp file
• [ ] update functionalities in loaned_*_interface.hpp files
• [ ] update functionalities in tests (and write tests to check all three methods if those are missing)
• [ ] update ros2_controllers repository if any of the methods is used.

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[Schulze18]

Hello everyone, I would like to work on this one.

@destogl, just to make it clear, it is not necessary any changes in get_interface, right? Therefore, as a final result, we would have:

• get_name() : returns full name of the interfaces <joint_name>/<interface_name>
• get_interface_name() : returns interface name <interface_name>
• get_prefix_name() : returns "joint" name (better is to call this prefix instead of joint) <joint_name>

[destogl]

Hello everyone, I would like to work on this one.

Yes, exactly, this should be the final solution. For the first implementation, we should probably deprecate get_full_name() method using get_name in the background.

@Schulze18 I will assign you for this than! Thanks! Please ask if you have any further questions!

[Schulze18]

I have a few doubts. @destogl, to deprecate get_full_name(), I just made it return get_name() and replaced any occurrence to get_name(). Should I add any other comment or message to indicate it was deprecated?

Sorry, it is my first time going deep into the ros2 code. Do the classes ResourceStorage and ResourceManager inherit ReadOnlyHandle? There are many hardware.get_name() and component.get_name() that I am not sure if I need to change to .get_prefix_name().

[bailaC]

@destogl , @bmagyar , can this issue be closed? Seems required codes are already in repo.

[bmagyar]

Yup!