Update API for realtime publisher

[christophfroehlich]

ros-controls/realtime_tools#323

admittance controller didn't use the try_lock in the RT loop btw.

[codecov]

Codecov Report

❌ Patch coverage is 88.31615% with 34 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.96%. Comparing base (228c586) to head (42bf20a).

Files with missing lines	Patch %	Lines
...iff_drive_controller/src/diff_drive_controller.cpp	62.50%	8 Missing and 1 partial ⚠️
tricycle_controller/src/tricycle_controller.cpp	62.50%	8 Missing and 1 partial ⚠️
...llers_library/src/steering_controllers_library.cpp	92.10%	1 Missing and 2 partials ⚠️
..._state_broadcaster/src/joint_state_broadcaster.cpp	93.54%	0 Missing and 2 partials ⚠️
..._drive_controller/src/mecanum_drive_controller.cpp	94.59%	0 Missing and 2 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	75.00%	0 Missing and 1 partial ⚠️
...roadcaster/src/force_torque_sensor_broadcaster.cpp	85.71%	0 Missing and 1 partial ⚠️
gpio_controllers/src/gpio_command_controller.cpp	92.30%	0 Missing and 1 partial ⚠️
..._sensor_broadcaster/src/gps_sensor_broadcaster.cpp	87.50%	0 Missing and 1 partial ⚠️
..._sensor_broadcaster/src/imu_sensor_broadcaster.cpp	87.50%	0 Missing and 1 partial ⚠️
... and 4 more

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1830      +/-   ##
==========================================
- Coverage   86.07%   85.96%   -0.11%     
==========================================
  Files         133      133              
  Lines       13282    13232      -50     
  Branches     1153     1158       +5     
==========================================
- Hits        11432    11375      -57     
+ Misses       1478     1475       -3     
- Partials      372      382      +10     

Flag	Coverage Δ
unittests	85.96% <88.31%> (-0.11%)	⬇️

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

Files with missing lines	Coverage Δ
...oint_state_broadcaster/joint_state_broadcaster.hpp	100.00% <ø> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp	96.93% <100.00%> (ø)
...jectory_controller/joint_trajectory_controller.hpp	50.00% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
..._controller/test/test_mecanum_drive_controller.hpp	86.66% <ø> (-0.29%)	⬇️
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
...dmittance_controller/src/admittance_controller.cpp	74.24% <75.00%> (-0.51%)	⬇️
...roadcaster/src/force_torque_sensor_broadcaster.cpp	91.59% <85.71%> (-0.91%)	⬇️
gpio_controllers/src/gpio_command_controller.cpp	83.51% <92.30%> (-0.64%)	⬇️
..._sensor_broadcaster/src/gps_sensor_broadcaster.cpp	69.44% <87.50%> (-1.79%)	⬇️
... and 10 more

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