feat(controllers): allow control type change after construction

[domire8]

Description

This PR adds the option in the RobotControllerInterface to set the joint control type after construction. Once the control type is set on configure however, this is not possible anymore.

Review guidelines

Estimated Time of Review: 5 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[SprGrf]

Looks good. Out of curiosity, in which cases do you see a need for this? And why constraint it after configuring?

[domire8]

If you check how control_type_ is used in this file you'll see that we use it to determine if we are in position control vs anything else. Position control always kinda needs to be handled differently because you don't want to reset position commands to zero on deactivation, and you also don't want to decay them to zero (which is what we are doing for velocity commands for example).

For the use case, it is mostly the trajectory controllers, which on construction don't know yet which command interfaces they claim, could be velocity or position or even effort. Hence we can decide between contruction and configuring what we want.

[bpapaspyros]

Code-wise all good for me (I haven't tested, but will do so next week). Wouldn't this be breaking though?

If tested good for me pending the changlog change

[bpapaspyros]

good for me, I've tested quite a bit at this point with no issues or additional requests