feat: add TF listener and lookup TF helpers in BaseControllerInterface

[bpapaspyros]

Description

• Add TF listener in BaseControllerInterface #169

This PR solves the issue by replicating the TF listener functions from ComponentInterface.

Review guidelines

Estimated Time of Review: 8 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[domire8]

Is there even a modification compared to modulo component interface?

[bpapaspyros]

Is there even a modification compared to modulo component interface?

no, just get_node()-> instead of an actual variable holding the node or clock

[domire8]

no, just get_node()-> instead of an actual variable holding the node or clock

nice, that triggers a problem actually. If someone tried add_tf_listener() on construction, this would give a segmentation error because there is no node on construction. Can you verify that and check that the node is actually available?

[bpapaspyros]

no, just get_node()-> instead of an actual variable holding the node or clock

nice, that triggers a problem actually. If someone tried add_tf_listener() on construction, this would give a segmentation error because there is no node on construction. Can you verify that and check that the node is actually available?

yes, sure enough that gives a seg. fault

[domire8]

Looks good!