Ros2 controllers 2.14 (#547)

* Require ros2_controllers 2.14 for binary build and master for semi-binary

* Re-Add "Adapt jtc controller params to new param api"

This was removed due to release problems, but we should get back to the latest
ros2_controllers compatibility.

Universal_Robots_ROS2_Driver-not-released.humble.repos

@@ -4,3 +4,7 @@
 # Once Upstream packages are released and synced to the target distributions in the required
 # version, the entry in this file shall be removed again.
 repositories:
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers
+    version: 2.14.0

Universal_Robots_ROS2_Driver.humble.repos

@@ -14,7 +14,7 @@ repositories:
   ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers
-    version: 2.12.0
+    version: master
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git

ur_controllers/src/scaled_joint_trajectory_controller.cpp

@@ -106,7 +106,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
   }
 
   JointTrajectoryPoint state_current, state_desired, state_error;
-  const auto joint_num = joint_names_.size();
+  const auto joint_num = params_.joints.size();
   resize_joint_trajectory_point(state_current, joint_num);
 
   // current state update
@@ -206,7 +206,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
         // send feedback
         auto feedback = std::make_shared<FollowJTrajAction::Feedback>();
         feedback->header.stamp = time;
-        feedback->joint_names = joint_names_;
+        feedback->joint_names = params_.joints;
 
         feedback->actual = state_current;
         feedback->desired = state_desired;