Dynamic memory allocation in the joint trajectory controller

[AndyZe]

Here are some spots of dynamic memory allocation in the realtime update method of the JTC we should try to get rid of:

In fill_partial_goal(): https://github.com/ros-controls/ros2_controllers/blob/d8d661607f770e704b774249a31534fa0eb0d46b/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L1084

And several other places.

In sort_to_local_joint_order():

output.resize(mapping.size(), 0.0);