[Michi-Tsubaki]

Why this PR is needed?

The port is opened and the Dynamixels are initialized in on_init().

As a result:

• controller_manager fails to load the component if the motors are off or the U2D2 is unplugged at startup.
• cleanup does not release the port, and configure does not reconnect. Recovering from a power cycle requires restarting controller_manager.

ros2_control expects communication to be set up in on_configure().

Changes

• Add the hardware parameter initialize_communication_on_configure (default false). When it is true, the port is opened and the Dynamixels are initialized in on_configure() instead of on_init().
• Split on_init() so that the handlers are built from the URDF without communication. The existing communication code moves unchanged into InitDxlCommunication().
• Add on_configure() (init), on_cleanup() (close port) and on_shutdown() (torque off and close port).
• Guard the services and the destructor while the component is not configured.

Minimal Example to show advantage

<param name="initialize_communication_on_configure">true</param>

controller_manager:
  ros__parameters:
    hardware_components_initial_state:
      unconfigured: [dynamixel_system]

# controller_manager starts even with the motors powered off
ros2 control set_hardware_component_state dynamixel_system active        # open port
ros2 control set_hardware_component_state dynamixel_system unconfigured  # close port (e.g. power-cycle)
ros2 control set_hardware_component_state dynamixel_system active        # reconnect, no restart

Backward Compatibility

• The default is false, so existing URDFs behave as before. No existing public API is removed.
• cleanup now closes the port, and the next configure reinitializes the Dynamixels. Previously both were no-ops.
• reboot_dxl no longer rebuilds the handlers. Rebuilding them invalidated the pointers already exported to ros2_control.

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