Update controller templates for new API

[destogl]

Consider also this changes:

• ros-controls/ros2_controllers@bfe622c
• update realtime_toolbox headers to hpp from h

Services QoS:

namespace
{  // utility

// Changed services history QoS to keep all so we don't lose any client service calls
// \note The versions conditioning is added here to support the source-compatibility with Humble
#if RCLCPP_VERSION_MAJOR >= 17
rclcpp::QoS qos_services =
  rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
    .reliable()
    .durability_volatile();
#else
static const rmw_qos_profile_t qos_services = {
  RMW_QOS_POLICY_HISTORY_KEEP_ALL,
  1,  // message queue depth
  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
  RMW_QOS_POLICY_DURABILITY_VOLATILE,
  RMW_QOS_DEADLINE_DEFAULT,
  RMW_QOS_LIFESPAN_DEFAULT,
  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
  false};
#endif