Add the same compile flags as with ros2_controllers and fix errors (#… #415

Job	Run time
binary (humble, main) / humble main	3m 30s
binary (humble, testing) / humble testing	3m 29s
binary (iron, main) / iron main	3m 46s
binary (iron, testing) / iron testing	3m 30s
binary (jazzy, main) / jazzy main	3m 34s
binary (jazzy, testing) / jazzy testing	3m 35s
binary (rolling, main) / rolling main	3m 31s
binary (rolling, testing) / rolling testing	3m 49s
	28m 44s

Provide feedback