Ex10: use gpio_command_controller (backport #627)

[mergify]

This changes the example_10 to use the gpio_command_controller proposed with ros-controls/ros2_controllers#1251

I also mentioned the /dynamic_joint_states topic from JSB.

---

This is an automatic backport of pull request #627 done by Mergify.

[mergify]

Cherry-pick of 332ede0 has failed:

On branch mergify/bp/humble/pr-627
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 332ede0.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   example_10/CMakeLists.txt
	deleted:    example_10/controllers/gpio_controller.cpp
	deleted:    example_10/controllers/include/ros2_control_demo_example_10/gpio_controller.hpp
	modified:   example_10/doc/userdoc.rst
	modified:   example_10/hardware/rrbot.cpp
	modified:   example_10/ros2_control_demo_example_10.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   example_10/bringup/config/rrbot_controllers.yaml
	both modified:   example_10/package.xml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally