TF prefix helper added

[kuralme]

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
2. Give your PR a descriptive title. Add a short summary, if required.
3. Make sure the pipeline is green.
4. Don’t be afraid to request reviews from maintainers.
5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

• [x] Fork the repository.
• [x] Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• [x] Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• [x] Commit to your fork using clear commit messages.
• [x] Send a pull request, answering any default questions in the pull request interface.
• [x] Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

PR related to the issue

[kuralme]

I made the changes. If looks good, I will continue with the ros2_controllers. Edit: updated the tests too

[codecov-commenter]

Codecov Report

:white_check_mark: All modified and coverable lines are covered by tests. :white_check_mark: Project coverage is 83.28%. Comparing base (18c4b12) to head (53d113d).

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #533      +/-   ##
==========================================
+ Coverage   83.13%   83.28%   +0.14%     
==========================================
  Files          29       31       +2     
  Lines        1981     1998      +17     
  Branches      110      113       +3     
==========================================
+ Hits         1647     1664      +17     
  Misses        268      268              
  Partials       66       66              

Flag	Coverage Δ
unittests	83.28% <100.00%> (+0.14%)	:arrow_up:

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

Files with missing lines	Coverage Δ
...ntrol_toolbox/include/control_toolbox/tf_utils.hpp	100.00% <100.00%> (ø)
control_toolbox/test/tf_utils_tests.cpp	100.00% <100.00%> (ø)

:rocket: New features to boost your workflow:

• :snowflake: Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[kuralme]

I used it for diff drive controller and sent the PR

[christophfroehlich]

Closing in favor of https://github.com/ros-controls/ros2_control/pull/2803