Add NodeOptions parameter to init function of controller_interface

[AugusteBourgois]

This allows for finer tuning of the NodeOptions of the controller_interface object.
For example, this allows to declare parameters from YAML files directly with the options allow_undeclared_parameters and automatically_declare_parameters_from_overrides

[bmagyar]

Are you using this already in one of your controllers? Would be good to have a link here to support the argument

[bmagyar]

@AugusteBourgois can you please show us an example of this being used? Otherwise I'm happy to merge

[AugusteBourgois]

My controller is hosted on a private repo of my company unfortunately. However I can certainly implement a minimal working example if you like.

[bmagyar]

Yeah an example could really help nailing this functionality, especially if you can make it as a test.

Note: the new function is currently not being called from anywhere. How'd that change in your opinion?

[AugusteBourgois]

I added an example in the test folder. I believe that a controller should be able to play with its own node options, in particular when it comes to declaring parameters from overrides from example.
The ControllerInterface::init(const std::string &, rclcpp::NodeOptions) function will therefore be used in the overridden MyController::init functionif necessary to change the node options.

[bmagyar]

minor changes

[destogl]

Why not move controllers implementations into header file so that cpp has only tests inside. @bmagyar what do you think?

[bmagyar]

done

[destogl]

It looks good, just one small nit-pick.

[bmagyar]

Rebased for good measure before merge