Handle SIGINT properly in the controller manager (backport #2014)

[mergify]

resolves #2012
resolves #1168
resolves #472

Needed by ros-controls/ros2_control_demos#548

With example_1 of ros2_control_demos:

[ros2_control_node-1] [INFO] [1737720810.651704682] [controller_manager]: Shutdown request received....
[ros2_control_node-1] [INFO] [1737720810.651778082] [controller_manager]: Shutting down all controllers in the controller manager.
[ros2_control_node-1] [INFO] [1737720810.651830233] [controller_manager]: Deactivating controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1737720810.652020354] [controller_manager]: Shutting down controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1737720810.652065784] [controller_manager]: Deactivating controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1737720810.652169914] [controller_manager]: Shutting down controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1737720810.652240505] [resource_manager]: 'deactivate' hardware 'RRBot' 
[ros2_control_node-1] [INFO] [1737720810.652259975] [controller_manager.resource_manager.hardware_component.system.RRBot]: Deactivating ...please wait...
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 399725]
[INFO] [rviz2-5]: process has finished cleanly [pid 399819]
[ros2_control_node-1] [INFO] [1737720811.652349811] [controller_manager.resource_manager.hardware_component.system.RRBot]: 3.0 seconds left...
[ros2_control_node-1] [INFO] [1737720812.652490121] [controller_manager.resource_manager.hardware_component.system.RRBot]: 2.0 seconds left...
[ros2_control_node-1] [INFO] [1737720813.652626335] [controller_manager.resource_manager.hardware_component.system.RRBot]: 1.0 seconds left...
[ros2_control_node-1] [INFO] [1737720813.652682125] [controller_manager.resource_manager.hardware_component.system.RRBot]: Successfully deactivated!
[ros2_control_node-1] [INFO] [1737720813.652700605] [resource_manager]: Successful 'deactivate' of hardware 'RRBot'
[ros2_control_node-1] [INFO] [1737720813.652715105] [resource_manager]: 'shutdown' hardware 'RRBot' 
[ros2_control_node-1] [INFO] [1737720813.652722355] [resource_manager]: Successful 'shutdown' of hardware 'RRBot'
[ros2_control_node-1] [INFO] [1737720813.652773225] [controller_manager]: Shutting down the controller manager.

---

This is an automatic backport of pull request #2014 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 882b489 has failed:

On branch mergify/bp/humble/pr-2014
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 882b489.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   hardware_interface/include/hardware_interface/resource_manager.hpp
	modified:   hardware_interface/src/resource_manager.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/include/controller_manager/controller_manager.hpp
	both modified:   controller_manager/src/controller_manager.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

Attention: Patch coverage is 19.60784% with 41 lines in your changes missing coverage. Please review.

Project coverage is 62.67%. Comparing base (c04a16f) to head (2d8fa81).
Report is 89 commits behind head on humble.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	25.00%	30 Missing ⚠️
hardware_interface/src/resource_manager.cpp	0.00%	10 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           humble    #2040       +/-   ##
===========================================
- Coverage   87.00%   62.67%   -24.34%     
===========================================
  Files          97      109       +12     
  Lines        7505    12641     +5136     
  Branches      677     8583     +7906     
===========================================
+ Hits         6530     7923     +1393     
- Misses        688      902      +214     
- Partials      287     3816     +3529     

Flag	Coverage Δ
unittests	62.67% <19.60%> (-24.34%)	⬇️

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

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp	77.87% <0.00%> (-2.33%)	⬇️
controller_manager/src/controller_manager.cpp	65.62% <25.00%> (-6.25%)	⬇️

... and 83 files with indirect coverage changes

[saikishor]

@urfeex when you have time, please test this branch and let us know if it works.

Thank you!

[fmauch]

Works just like on the Humble branch :-)

I am just wondering about the removed CONTROLLER_MANAGER_PUBLIC macros.