Fix dependencies for source build (backport #1533)

[mergify]

The source builds consistently fail with the following errors

   sh: 1: ros2: not found
  /__w/ros2_control/ros2_control/ros_ws/src/rna86ha94vo/ros2_control/controller_interface/test/test_controller_interface.cpp:91: Failure
  Expected equality of these values:
    std::system("ros2 param set /testable_controller_interface update_rate 623")
      Which is: 32512
    0

and

  launch_test.py: error: No module named 'launch_ros'

Both come from missing dependencies on ros2cli and launch_ros.

• I don't think that std::system is necessary and changed this to set the parameter of the node via C++ API.
• Added launch_ros to the test_dependency of joint_limits

Voilà

---

This is an automatic backport of pull request #1533 done by Mergify.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.99%. Comparing base (2a4d81d) to head (6f1836b).

Additional details and impacted files

@@           Coverage Diff           @@
##           humble    #1535   +/-   ##
=======================================
  Coverage   86.99%   86.99%           
=======================================
  Files          97       97           
  Lines        7505     7506    +1     
  Branches      680      680           
=======================================
+ Hits         6529     6530    +1     
  Misses        689      689           
  Partials      287      287           

Flag	Coverage Δ
unittests	86.99% <100.00%> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...oller_interface/test/test_controller_interface.cpp	100.00% <100.00%> (ø)