feat(controllers)!: remove robot description parameter

[domire8]

Description

This PR removes the robot_description parameter of the controller interface because the robot description is already available through get_robot_description() of the ros2 control base class.

Breaking change and requires new base image, goes into staging branch

Review guidelines

Estimated Time of Review: 5 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[eeberhard]

technically I don't think this is a breaking change, because trying to set a parameter that doesn't exist fails but doesn't result in an error. And the controller behavior should stay the same whether it gets the robot description from the parameter or from the controller manager. Especially as the parameter was marked internal, removing it also shouldn't change any user experience.

Still, I don't mind it being staged on a breaking branch for now for testing

[domire8]

technically I don't think this is a breaking change

Hmm true, however we will have to release this as part of v6 because of the base image change IMO. This would not work with the current v2.0.0-jazzy image.

Especially as the parameter was marked internal, removing it also shouldn't change any user experience.

It is marked internal, but downstream controllers might fail to configure if it's not available so that's another reason to call it "breaking"