Initialize joint_control_mode_ in on_configure (backport #2693)

[mergify]

In #2571, potential crash was introduced:

read() can be called before perform_command_mode_switch(), which would result in a segfault accessing this vector.

Example stack trace in that case:

[ros2_control_node-1] Stack trace (most recent call last) in thread 186502:                                                                                   
[ros2_control_node-1] #10   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in                                                
[ros2_control_node-1] #9    Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 100, in clone [0x763f54868a63]                                           
[ros2_control_node-1] #8    Source "./nptl/pthread_create.c", line 447, in start_thread [0x763f547dbaa3]                                                      
[ros2_control_node-1] #7    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x763f54a3ddb3, in                                                     
[ros2_control_node-1] #6    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/controller_manager/src/ros2_control_node.cpp", line 146, in operator() [0x5f7cf59af521]
[ros2_control_node-1]         143:         previous_time = current_time;                                                                                      
[ros2_control_node-1]         144:                                                                                                                            
[ros2_control_node-1]         145:         // execute update loop                                                                                             
[ros2_control_node-1]       > 146:         cm->read(cm->get_trigger_clock()->now(), measured_period);                                                         
[ros2_control_node-1]         147:         cm->update(cm->get_trigger_clock()->now(), measured_period);                                                       
[ros2_control_node-1]         148:         cm->write(cm->get_trigger_clock()->now(), measured_period);                                                        
[ros2_control_node-1] #5    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/controller_manager/src/controller_manager.cpp", line 2844, in read [0x763f54f06b2c]
[ros2_control_node-1]        2841: {
[ros2_control_node-1]        2842:   periodicity_stats_.add_measurement(1.0 / period.seconds());
[ros2_control_node-1]        2843:   const auto start_time = std::chrono::steady_clock::now();
[ros2_control_node-1]       >2844:   auto [result, failed_hardware_names] = resource_manager_->read(time, period);
[ros2_control_node-1]        2845:                                                                                                                            
[ros2_control_node-1]        2846:   if (result != hardware_interface::return_type::OK)                
[ros2_control_node-1]        2847:   {                                                                                                                        
[ros2_control_node-1] #4    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/hardware_interface/src/resource_manager.cpp", line 2423, in read [0x763f546a6915]
[ros2_control_node-1]        2421:   read_components(resource_storage_->actuators_);
[ros2_control_node-1]        2422:   read_components(resource_storage_->sensors_);
[ros2_control_node-1]       >2423:   read_components(resource_storage_->systems_);              
[ros2_control_node-1]        2424:                                                                                                                            
[ros2_control_node-1]        2425:   return read_write_status;                                                                                                
[ros2_control_node-1]        2426: }
[ros2_control_node-1] #3    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/hardware_interface/src/resource_manager.cpp", line 2364, in operator()<std::vector<hardware_interface::HardwareComponent> > [0x763f546a6005]
[ros2_control_node-1]        2361:           hardware_component_info.rw_rate == 0 ||
[ros2_control_node-1]        2362:           hardware_component_info.rw_rate == resource_storage_->cm_update_rate_)                                           
[ros2_control_node-1]        2363:         {
[ros2_control_node-1]       >2364:           ret_val = component.read(current_time, period);
[ros2_control_node-1]        2365:         }                                                                                                                  
[ros2_control_node-1]        2366:         else                                                                                                               
[ros2_control_node-1]        2367:         {
[ros2_control_node-1] #2    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/hardware_interface/src/hardware_component.cpp", line 373, in read [0x763f546f51ea]
[ros2_control_node-1]         370:     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
[ros2_control_node-1]         371:     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)                                 
[ros2_control_node-1]         372:   {                                                                                                                        
[ros2_control_node-1]       > 373:     const auto trigger_result = impl_->trigger_read(time, period);
[ros2_control_node-1]         374:     if (trigger_result.result == return_type::ERROR)                            
[ros2_control_node-1]         375:     {    
[ros2_control_node-1]         376:       error();                                                                                                             
[ros2_control_node-1] #1    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp", line 639, in trigger_read [0x763f5470a8fa]
[ros2_control_node-1]         636:     {       
[ros2_control_node-1]         637:       const auto start_time = std::chrono::steady_clock::now();
[ros2_control_node-1]         638:       status.successful = true;                                                                                            
[ros2_control_node-1]       > 639:       status.result = read(time, period);
[ros2_control_node-1]         640:       status.execution_time = std::chrono::duration_cast<std::chrono::nanoseconds>(           
[ros2_control_node-1]         641:         std::chrono::steady_clock::now() - start_time);                                   
[ros2_control_node-1]         642:     }
[ros2_control_node-1] #0    Source "/home/robot/checkout/ros2_control_rolling/colcon_ws/src/ros2_control/hardware_interface/src/mock_components/generic_system.cpp", line 424, in read [0x763f442ac2f5]
[ros2_control_node-1]         421:         }                                                                                                                  
[ros2_control_node-1]         422:       }
[ros2_control_node-1]         423:                                             
[ros2_control_node-1]       > 424:       switch (joint_control_mode_[j])                                                                                      
[ros2_control_node-1]         425:       {                            
[ros2_control_node-1]         426:         case ACCELERATION_INTERFACE_INDEX:
[ros2_control_node-1]         427:         {                                                                                                                  
[ros2_control_node-1] Segmentation fault (Address not mapped to object [(nil)]) 

By moving initialization of the joint_control_mode_ vector to on_configure() we can make sure to have it initialized with the correct amount of joints.

---

This is an automatic backport of pull request #2693 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of c99442e has failed:

On branch mergify/bp/jazzy/pr-2693
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You are currently cherry-picking commit c99442e.
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Unmerged paths:
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	both modified:   hardware_interface/include/mock_components/generic_system.hpp
	both modified:   hardware_interface/src/mock_components/generic_system.cpp

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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

[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?