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 87.45%. Comparing base (745ecba) to head (51ebe9b).

Additional details and impacted files

@@           Coverage Diff           @@
##             iron    #1536   +/-   ##
=======================================
  Coverage   87.45%   87.45%           
=======================================
  Files         101      101           
  Lines        8077     8078    +1     
  Branches      714      714           
=======================================
+ Hits         7064     7065    +1     
  Misses        717      717           
  Partials      296      296           

Flag	Coverage Δ
unittests	87.45% <100.00%> (+<0.01%)	⬆️

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