[CM] Use robot_description topic instead of parameter and don't crash on empty URDF 🦿 (backport #940)

[mergify]

This is an automatic backport of pull request #940 done by Mergify.
Cherry-pick of d299208 has failed:

On branch mergify/bp/humble/pr-940
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Changes to be committed:
	modified:   controller_manager/include/controller_manager/controller_manager.hpp
	modified:   controller_manager/package.xml
	modified:   controller_manager/test/controller_manager_test_common.hpp
	new file:   controller_manager/test/test_controller_manager_urdf_passing.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/CMakeLists.txt
	both modified:   controller_manager/src/controller_manager.cpp
	both modified:   hardware_interface/doc/mock_components_userdoc.rst
	both modified:   hardware_interface/include/hardware_interface/resource_manager.hpp
	both modified:   hardware_interface/src/resource_manager.cpp
	both modified:   hardware_interface/test/test_resource_manager.cpp

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

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[destogl]

resolving conflicts

[bmagyar]

I see this now also has a sneaky backport of #1054 , is that intended?

[destogl]

I see this now also has a sneaky backport of #1054 , is that intended?

yes, it's easier to do it at once. But I can also split, once when I actually figure out what is the problem...

[bmagyar]

yes , please split it. I'd prefer if we didn't have extra things creeping in

[bmagyar]

I think there's too much stuff in this PR. The CI clearly isn't happy

[bmagyar]

rebased and dropped the content related to #1054

[saikishor]

rest LGTM

[avanmalleghem]

Hello, any update on this one ?