feature: add support for prefixed joint names in JTC

[Demonmasterlqx]

feature: add support for prefixed joint names in joint_trajectory_controller for chainable controllers situation

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[mergify]

@Demonmasterlqx, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to jazzy, but it must be in master
to have these changes reflected into new distributions.

[Demonmasterlqx]

Sorry for that but I don't have the develop environment for the master branch.

[christophfroehlich]

I have the exact problem with chained controllers, but I'm not sure if fixing every controller is the way to go.
An alternative would be the remap feature from
ros-controls/ros2_control#1667
or a redesign of the chained controllers' interface namings.

[Demonmasterlqx]

A full redesign seems like the optimal long-term solution for a future version. However, this PR offers a perfectly viable solution for the current version. Could you please share if there are any existing plans or design specifications for that future implementation?

[christophfroehlich]

There is no solution for that yet. I put that on the agenda of the next PMC meeting.