(cherry picked from commit 94745e6)

Co-authored-by: Graziato Davide <85335579+Fixit-Davide@users.noreply.github.com>

(cherry picked from commit a98cb2a)

Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com>

…re-humble

ros-controls#257)

* Add dep (ros-controls#256)

(cherry picked from commit b35100d)

# Conflicts:
#	ign_ros2_control_demos/package.xml

* fixed merge

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

…ter `position_proportional_gain` (backport ros-controls#261) (ros-controls#262)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

…oint-feature-humble