[ros2_control_node] Handle simulation environment clocks (backport #1810)

[mergify]

As there are many ongoing issues that people are trying to use the ros2_control_node for the simulation environments and as it is not working, I wanted to see if this solution is something that we are interesting to go with or we simple reject the possibility

Related to : #859

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This is an automatic backport of pull request #1810 done by Mergify.

[mergify]

Cherry-pick of d714e8b has failed:

On branch mergify/bp/humble/pr-1810
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Unmerged paths:
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	both modified:   controller_manager/src/ros2_control_node.cpp
	both modified:   doc/release_notes.rst

no changes added to commit (use "git add" and/or "git commit -a")

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

Attention: Patch coverage is 60.00000% with 2 lines in your changes missing coverage. Please review.

Project coverage is 62.47%. Comparing base (a8696f4) to head (3cf9d72).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
controller_manager/src/ros2_control_node.cpp	60.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1862      +/-   ##
==========================================
- Coverage   62.48%   62.47%   -0.01%     
==========================================
  Files         108      108              
  Lines       12166    12169       +3     
  Branches     8254     8257       +3     
==========================================
+ Hits         7602     7603       +1     
- Misses        883      884       +1     
- Partials     3681     3682       +1     

Flag	Coverage Δ
unittests	62.47% <60.00%> (-0.01%)	⬇️

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	66.66% <60.00%> (-2.23%)	⬇️