Update ros2_control API to get_optional

[urfeex]

Update to new get_optional API from ros2_control. Let's try to keep the warnings at 0.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 72 lines in your changes missing coverage. Please review.

Project coverage is 5.69%. Comparing base (1b121b7) to head (8bc8813).
Report is 405 commits behind head on main.

Files with missing lines	Patch %	Lines
ur_controllers/src/gpio_controller.cpp	0.00%	44 Missing ⚠️
...trollers/src/passthrough_trajectory_controller.cpp	0.00%	17 Missing ⚠️
ur_controllers/src/ur_configuration_controller.cpp	0.00%	4 Missing ⚠️
ur_controllers/src/freedrive_mode_controller.cpp	0.00%	3 Missing ⚠️
ur_controllers/src/force_mode_controller.cpp	0.00%	2 Missing ⚠️
...rollers/src/scaled_joint_trajectory_controller.cpp	0.00%	1 Missing ⚠️
...ontrollers/src/speed_scaling_state_broadcaster.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1289      +/-   ##
========================================
+ Coverage   3.59%   5.69%   +2.10%     
========================================
  Files         13      31      +18     
  Lines        947    3057    +2110     
  Branches     152     374     +222     
========================================
+ Hits          34     174     +140     
- Misses       843    2881    +2038     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.69% <0.00%> (+2.10%)	⬆️

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