Add parameter for deactivating dynamic_joint_states (backport #2064)

[mergify]

• Make parameters read-only.
• Add parameter to deactivate dynamic_joint_states

First step of #2044

---

This is an automatic backport of pull request #2064 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of b5196f7 has failed:

On branch mergify/bp/humble/pr-2064
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit b5196f7.
  (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:   doc/release_notes.rst
	modified:   joint_state_broadcaster/src/joint_state_broadcaster.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml
	both modified:   joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
	both modified:   joint_state_broadcaster/test/test_joint_state_broadcaster.hpp

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

[codecov]

Codecov Report

❌ Patch coverage is 64.28571% with 15 lines in your changes missing coverage. Please review.
✅ Project coverage is 67.59%. Comparing base (338cece) to head (07686f3).
⚠️ Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
..._broadcaster/test/test_joint_state_broadcaster.cpp	57.14%	0 Missing and 15 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2065      +/-   ##
==========================================
- Coverage   67.65%   67.59%   -0.06%     
==========================================
  Files         126      126              
  Lines       14356    14376      +20     
  Branches     9125     9144      +19     
==========================================
+ Hits         9712     9717       +5     
  Misses       1408     1408              
- Partials     3236     3251      +15     

Flag	Coverage Δ
unittests	67.59% <64.28%> (-0.06%)	⬇️

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

Files with missing lines	Coverage Δ
..._state_broadcaster/src/joint_state_broadcaster.cpp	83.73% <100.00%> (+0.19%)	⬆️
..._broadcaster/test/test_joint_state_broadcaster.cpp	47.01% <57.14%> (-1.03%)	⬇️

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