Add alias for old topic_based_ros2_control

[christophfroehlich]

Not sure if this is helpful for migration like reported here

[codecov-commenter]

Codecov Report

❌ Patch coverage is 0% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 77.89%. Comparing base (de2ce35) to head (4327986).
⚠️ Report is 8 commits behind head on main.

Files with missing lines	Patch %	Lines
...rface/src/joint_state_topic_hardware_interface.cpp	0.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #87      +/-   ##
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- Coverage   78.02%   77.89%   -0.13%     
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  Files           6        6              
  Lines         455      457       +2     
  Branches       45       46       +1     
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+ Hits          355      356       +1     
- Misses         69       70       +1     
  Partials       31       31              

Flag	Coverage Δ
unittests	77.89% <0.00%> (-0.13%)	⬇️

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Files with missing lines	Coverage Δ
...rface/src/joint_state_topic_hardware_interface.cpp	60.67% <0.00%> (-1.40%)	⬇️

... and 1 file with indirect coverage changes

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[MarqRazz]

Long term I do plan to make more topic based systems (like GPIO) so calling the JointState approach the only TopicBasedSystem seems limiting.

[christophfroehlich]

But this is only the alias/magic name for the same plugin. It has a different prefix topic_based_ros2_control, so there won't be any conflict in the future?

[MarqRazz]

I'm fine with the alias but like I said it seems limiting. Once we have GpioTopicSystem it could also be/is a TopicBasedSystem as far as the name goes. So I personally wouldn't suggest using the alias, but understand it is helpful for users migrating.

When we moved this library over to ros2_control we decided to be specific and name each one after the type the topic based system it based on but a simple alias is fine with me.

[saikishor]

As it is done for backward compatibility reasons, it looks good to me.

[christophfroehlich]

I added a runtime deprecation warning, manually tested with the rrbot of the test folder
2: [ros2_control_node-2] [WARN] [1770626646.226306039] [rrr_joint_state_system]: Plugin name 'topic_based_ros2_control/TopicBasedSystem' is deprecated, upgrade to 'joint_state_topic_hardware_interface/JointStateTopicSystem' of package'joint_state_topic_hardware_interface' instead.

[saikishor]

I like it. Thank you 👌🏽👌🏽