[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/iron/pr-1810
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit d714e8b.
  (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:   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

[codecov]

Codecov Report

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

Project coverage is 62.93%. Comparing base (e58c6c6) to head (010d95f).
Report is 1 commits behind head on iron.

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             @@
##             iron    #1863      +/-   ##
==========================================
- Coverage   62.93%   62.93%   -0.01%     
==========================================
  Files         113      113              
  Lines       13254    13257       +3     
  Branches     8968     8968              
==========================================
+ Hits         8342     8343       +1     
- Misses        900      901       +1     
- Partials     4012     4013       +1     

Flag	Coverage Δ
unittests	62.93% <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%)	⬇️

[christophfroehlich]

Includes #1864