Add documentation on ros2_control_node and make lock_memory false by default (backport #1890)

[mergify]

Related to ros-controls/ros2_controllers#1389

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This is an automatic backport of pull request #1890 done by Mergify.

[mergify]

Cherry-pick of abb4c68 has failed:

On branch mergify/bp/humble/pr-1890
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit abb4c68.
  (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:   controller_manager/doc/userdoc.rst

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   controller_manager/src/ros2_control_node.cpp

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