Deprecate dynamic_joint_states

[christophfroehlich]

We decided to not do this, but

• add a parameter back to humble to disable dynamic_joint_states
• deprecate dynamic_joint_states on rolling, with migration notes to gpio_command_controller, pal_statistics, and interface_state_broadcaster
• remove it in an upcoming release

Originally posted by @christophfroehlich in #1783 (comment)

[github-actions]

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