Fix reload after a description with a mimic joint (backport #212)

[mergify]

This is an automatic backport of pull request #212 done by Mergify.
Cherry-pick of e72adfc has failed:

On branch mergify/bp/humble/pr-212
Your branch is up to date with 'origin/humble'.

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Changes to be committed:
	modified:   src/robot_state_publisher.cpp
	new file:   test/change_mimic_joint-launch.py
	new file:   test/mimic_joint.urdf
	new file:   test/test_change_mimic_joint.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   CMakeLists.txt

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

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[clalancette]

CI:

• Linux
• Linux-aarch64
• Windows