Add robot_description parameter to the controllers

[saikishor]

This might be useful for all the controllers as well as for the Joint state broadcaster to have all the new features that we have recently added

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 63.68%. Comparing base (3cffec4) to head (3c6243a).
Report is 2 commits behind head on humble.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2198      +/-   ##
==========================================
+ Coverage   63.67%   63.68%   +0.01%     
==========================================
  Files         112      112              
  Lines       12933    12937       +4     
  Branches     8738     8739       +1     
==========================================
+ Hits         8235     8239       +4     
  Misses        806      806              
  Partials     3892     3892              

Flag	Coverage Δ
unittests	63.68% <100.00%> (+0.01%)	⬆️

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Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	100.00% <ø> (ø)
controller_manager/src/controller_manager.cpp	66.80% <100.00%> (+0.05%)	⬆️
hardware_interface/src/resource_manager.cpp	79.15% <100.00%> (+0.06%)	⬆️

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[bmagyar]

Wasn't this already there?

[saikishor]

Wasn't this already there?

Seems like it is not there already, atleast I couldn't find it

[saikishor]

After the discussion in yesterday's WG meeting, we have decided not to introduce such framework-wide changes into Humble. For this reason, I'll go ahead and close this PR.