[ros2_control_node] Add option to set the CPU affinity (backport #1852)

[mergify]

This PR adds an option to the ros2_control_node to be able to set the CPU affinity to bind it to a specific CPU Core. By default, this is not enabled, unless it is specifically set

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This is an automatic backport of pull request #1852 done by Mergify.

[mergify]

Cherry-pick of 98f0795 has failed:

On branch mergify/bp/humble/pr-1852
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Changes to be committed:
	modified:   controller_manager/src/ros2_control_node.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst

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]

Needs to be merged after #1850

[codecov]

Codecov Report

Attention: Patch coverage is 16.66667% with 5 lines in your changes missing coverage. Please review.

Project coverage is 62.48%. Comparing base (4a3daec) to head (ebcae91).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
controller_manager/src/ros2_control_node.cpp	16.66%	4 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1856      +/-   ##
==========================================
- Coverage   62.50%   62.48%   -0.03%     
==========================================
  Files         108      108              
  Lines       12160    12166       +6     
  Branches     8250     8252       +2     
==========================================
+ Hits         7601     7602       +1     
- Misses        879      883       +4     
- Partials     3680     3681       +1     

Flag	Coverage Δ
unittests	62.48% <16.66%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
controller_manager/src/ros2_control_node.cpp	68.88% <16.66%> (-8.04%)	⬇️

[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?

[bmagyar]

@mergify rebase

[mergify]

rebase

☑️ Nothing to do

• -conflict [📌 rebase requirement]
• -closed [📌 rebase requirement]
• queue-position = -1 [📌 rebase requirement]
• any of:
  • #commits-behind > 0 [📌 rebase requirement]
  • #commits > 1 [📌 rebase requirement]
  • -linear-history [📌 rebase requirement]