Fix deprecation warning from hardware interface.

[marcoag]

Similar to JafarAbdi/feetech_ros2_driver#14.

I'm currently working on a jazzy patch sync and this package is under a regression error due to a deprecation in the ros2_control hardware interface and since this package has enabled warnings as errors. To avoid the wipe out of the package in jazzy with the coming sync I suggest we merge this fix and release a new version containing the changes to jazzy.

This PR is a fix to avoid the warning by updating to the on_init signature from const hardware_interface::HardwareInfo& info to const hardware_interface::HardwareComponentInterfaceParams& params. Additionally it also updates all references to access hardware info via params.hardware_info (e.g., params.hardware_info.hardware_parameters, params.hardware_info.joints)

Alternatively you can remove the warnings as errors option but I guess updating is a good move forward.

After we apply the fix we need a release to jazzy on the rosdistro.

[bmagyar]

Without this PR, we cannot release ros2_control to Jazzy.
ros/rosdistro#47292

[marcoag]

For your consideration: as @bmagyar suggested in this rosdistro PR removing the -Werror might be a more lasting fix for the buildfarm as it would avoid future build failures like this one coming from upstream added warnings.

[JafarAbdi]

Thanks @marcoag & @bmagyar. Closing since #36 fixes this