Add ControllerInterfaceParams to initialize the Controllers (backport #2390)

[mergify]

This PR adds the ControllerInterfaceParams structure and uses it to pass various args to the ControllerInterface class. Right now, doing so we are able to pass the joint limits to the controllers

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This is an automatic backport of pull request #2390 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 96.42857% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.09%. Comparing base (9def8aa) to head (c79e4c0).
⚠️ Report is 4 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...roller_interface/src/controller_interface_base.cpp	95.45%	0 Missing and 1 partial ⚠️
controller_manager/src/controller_manager.cpp	88.88%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2601      +/-   ##
==========================================
+ Coverage   89.04%   89.09%   +0.05%     
==========================================
  Files         147      148       +1     
  Lines       16594    16640      +46     
  Branches     1400     1401       +1     
==========================================
+ Hits        14776    14826      +50     
+ Misses       1288     1282       -6     
- Partials      530      532       +2     

Flag	Coverage Δ
unittests	89.09% <96.42%> (+0.05%)	⬆️

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

Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	91.66% <ø> (ø)
...ntroller_interface/controller_interface_params.hpp	100.00% <100.00%> (ø)
...oller_interface/test/test_controller_interface.cpp	100.00% <100.00%> (ø)
hardware_interface/src/resource_manager.cpp	75.78% <100.00%> (+0.13%)	⬆️
...roller_interface/src/controller_interface_base.cpp	90.47% <95.45%> (+1.08%)	⬆️
controller_manager/src/controller_manager.cpp	75.30% <88.88%> (+0.09%)	⬆️

... and 1 file with indirect coverage changes

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