Let sphinx add parameter description with nested structures to documentation (backport #652)

[mergify]

This is an automatic backport of pull request #652 done by Mergify.
Cherry-pick of f375c69 has failed:

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Changes to be committed:
	modified:   admittance_controller/doc/userdoc.rst
	new file:   diff_drive_controller/doc/parameters_context.yaml
	modified:   diff_drive_controller/doc/userdoc.rst
	new file:   force_torque_sensor_broadcaster/doc/parameters_context.yaml
	modified:   force_torque_sensor_broadcaster/doc/userdoc.rst
	modified:   force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml
	modified:   gripper_controllers/doc/userdoc.rst
	modified:   imu_sensor_broadcaster/doc/userdoc.rst
	new file:   joint_state_broadcaster/doc/joint_state_broadcaster_parameter_context.yml
	modified:   joint_state_broadcaster/doc/userdoc.rst
	modified:   joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml
	new file:   joint_trajectory_controller/doc/parameters_context.yaml
	modified:   joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
	modified:   range_sensor_broadcaster/doc/userdoc.rst

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   joint_trajectory_controller/doc/parameters.rst

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

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[christophfroehlich]

RHEL should be fixed with #1045, the binary builds fail because of hardware_interface_testing not being released?