[JTC] Implement new ~/controller_state message

[christophfroehlich]

This implements a state message for JTC following ros-controls/roadmap#57

Needs ros-controls/control_msgs#86

[christophfroehlich]

I'm not sure how to handle the deprecations here.

Acc. to the roadmap, the topic should be ~/controller_state. How should we deal with the transition phase? Making a parameter with the topic name, defaulting to the old state and adding a deprecated warning if it is not changed to controller_state?

[christophfroehlich]

We decided last WG meeting that we don't want to support the old msg format in rolling/iron. I'll add new PR for humble with proper deprecation warnings.

[codecov-commenter]

Codecov Report

Merging #557 (18b670e) into master (e7f9962) will decrease coverage by 3.31%.
The diff coverage is 26.60%.

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@@            Coverage Diff             @@
##           master     #557      +/-   ##
==========================================
- Coverage   35.78%   32.48%   -3.31%     
==========================================
  Files         189        7     -182     
  Lines       17570      665   -16905     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      216    -6071     
+ Misses        994      157     -837     
+ Partials    10289      292    -9997     

Flag	Coverage Δ
unittests	32.48% <26.60%> (-3.31%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	39.22% <35.50%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes