Bugfixed joint_states subscriber segfaults

[Kotochleb]

LFC is subscribing to non existing topic joint_state, which is result of a typo with missing s at the end (should be joint_states). When the typo is fixed the controller segfaults.

[ArthurVal]

@MaximilienNaveau I'm a bit confuse.
Why do the ros controller plugin, which is suppose to get its input form the ros_control facility (i.e. the hardware interfaces), still subscribe to /odom and /joint_state classical free topics ? (from here)

[MaximilienNaveau]

A standard chainable controller is not necessarily made for being chained.
It should (see ROS2 control documentation) be able to be used unchained hence getting it's reference from topics.
Hence the subscription to joint_states and odom.