Update realtime containers (backport #1721)

[mergify]

Apply changes from the guidelines added with ros-controls/realtime_tools#347

• I changed all Boxes to use the messages itself, instead of a smart pointer to it.
• Messages get pre-allocated and saved later for the case that any try_get fails in the RT thread
• I refactored the steering_controllers_lib a bit, to have the same timeout logic that the mecanum_controller has. This needed some updates of the tests, too.
• Apart from that, the behavior of all controllers should not change at all

  ---

  This is an automatic backport of pull request Update realtime containers #1721 done by Mergify.

[mergify]

Cherry-pick of a88bf0a has failed:

On branch mergify/bp/jazzy/pr-1721
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit a88bf0a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   admittance_controller/include/admittance_controller/admittance_controller.hpp
	modified:   admittance_controller/src/admittance_controller.cpp
	modified:   diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
	modified:   diff_drive_controller/src/diff_drive_controller.cpp
	modified:   diff_drive_controller/test/test_diff_drive_controller.cpp
	modified:   effort_controllers/test/test_joint_group_effort_controller.cpp
	modified:   forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
	modified:   forward_command_controller/test/test_forward_command_controller.cpp
	modified:   forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
	modified:   gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
	modified:   gpio_controllers/src/gpio_command_controller.cpp
	modified:   gpio_controllers/test/test_gpio_command_controller.cpp
	modified:   mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
	modified:   mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
	modified:   mecanum_drive_controller/src/mecanum_drive_controller.cpp
	modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
	modified:   parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp
	modified:   parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
	modified:   pid_controller/include/pid_controller/pid_controller.hpp
	modified:   position_controllers/test/test_joint_group_position_controller.cpp
	modified:   steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
	modified:   steering_controllers_library/src/steering_controllers_library.cpp
	modified:   steering_controllers_library/test/test_steering_controllers_library.cpp
	modified:   steering_controllers_library/test/test_steering_controllers_library.hpp
	modified:   velocity_controllers/test/test_joint_group_velocity_controller.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
	both modified:   bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
	both modified:   forward_command_controller/src/forward_controllers_base.cpp
	both modified:   pid_controller/src/pid_controller.cpp
	both modified:   pid_controller/test/test_pid_controller.cpp
	both modified:   pid_controller/test/test_pid_controller.hpp
	both modified:   tricycle_steering_controller/test/test_tricycle_steering_controller.cpp

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

[saikishor]

@christophfroehlich will we need this in Jazzy or not needed?