fix multiple system unconfigured rise cleanup

[anscipione]

Background

while developing a hobby robot, I created hardware that interfaces with a vesc. to be able to control 4 motors each separately via a serial connection I created an urdf that instantiates 4 of them with different parameters.

I realized that during startup I always encountered the warning message

  RCUTILS_LOG_WARN_NAMED(
           "resource_manager",
           "(hardware '%s'): '%s' command interface not in available list. "
           "This should not happen (hint: multiple cleanup calls).",
           hardware_name.c_str(), interface.c_str());

of the remove_all_hardware_interfaces_from_available_list method

analyzing the problem I found that the cause is due to the fact that when the first component is initialized but not the others, the following ResourceManager code occurs

  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     result = impl_->read(time, period);
     if (result == return_type::ERROR)
     {
       error();
     }
   }

   return result;

where all components except one return return_type::ERROR because are not yet configured.

This trigger all interfaces to be removed , living the hardware in indeterminate state.

correcting in

// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     result = impl_->write(time, period);
     if (result == return_type::ERROR)
     {
       error();
     }
   } else if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED
   )
   {
     return return_type::OK;
   }
   return result;

suppress the removal of the interfaces until components are CONFIGURED.

if my analysis is correct I would have a pr with the reported correction.

On my hardware it seems to have resolved the instability.

[bmagyar]

Would you mind putting this on a pull request?